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 | 165 warnings · 18552 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801369 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_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 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.30sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.30sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.30sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.31sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.42sINFOros2_control_node[2026-08-25 22:04:20.651] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-25 22:04:20.651] [info] Accepted new action goal ×2 + 0.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288962 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288962 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824056 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824056 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437655 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437655 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787695464.25761032 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243434 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243434 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695464.86989164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.82sINFOros2_control_node[2026-08-25 22:04:25.054] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:04:25.054] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291800 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291800 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_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 + 6.09sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835358 ms (missed cycles : 7). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835358 ms (missed cycles : 7).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883953 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883953 ms (missed cycles : 5).[0m ×2 + 7.65sWARNros2_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 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787773 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787773 ms (missed cycles : 2).[0m ×2 + 8.37sINFOjoint_trajectory_controllerReceived new action goal ×3050 + 8.37sINFOjoint_trajectory_controllerAccepted new action goal ×3050 + 8.37sINFOros2_control_nodeReceived new action goal[0m ×6100 + 8.37sINFOros2_control_nodeAccepted new action goal[0m ×6100 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782185 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782185 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766215 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766215 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174034 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174034 ms (missed cycles : 2).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963934 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963934 ms (missed cycles : 3).[0m ×2 + 13.15sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 13.15sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 13.15sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 13.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.16sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841526 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841526 ms (missed cycles : 2).[0m ×2 + 13.69sWARNros2_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 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743843 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743843 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517099 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517099 ms (missed cycles : 3).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166481 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166481 ms (missed cycles : 2).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754274 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754274 ms (missed cycles : 2).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600955 ms (missed cycles : 3). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600955 ms (missed cycles : 3).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346823 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346823 ms (missed cycles : 2).[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753832 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753832 ms (missed cycles : 2).[0m ×2 + 21.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166050 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166050 ms (missed cycles : 2).[0m ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679585 ms (missed cycles : 2). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679585 ms (missed cycles : 2).[0m ×2 + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631097 ms (missed cycles : 4). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631097 ms (missed cycles : 4).[0m ×2 + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980133 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980133 ms (missed cycles : 2).[0m ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582272 ms (missed cycles : 3). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582272 ms (missed cycles : 3).[0m ×2 + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.245776 ms (missed cycles : 7). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.245776 ms (missed cycles : 7).[0m ×2 + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938124 ms (missed cycles : 2). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938124 ms (missed cycles : 2).[0m ×2 + 28.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136815 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136815 ms (missed cycles : 2).[0m ×2 + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704828 ms (missed cycles : 2). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704828 ms (missed cycles : 2).[0m ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679778 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679778 ms (missed cycles : 2).[0m ×2 + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154397 ms (missed cycles : 2). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154397 ms (missed cycles : 2).[0m ×2 + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974604 ms (missed cycles : 2). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974604 ms (missed cycles : 2).[0m ×2 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701860 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701860 ms (missed cycles : 2).[0m ×2 + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156722 ms (missed cycles : 2). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156722 ms (missed cycles : 2).[0m ×2 + 35.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265365 ms (missed cycles : 2). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265365 ms (missed cycles : 2).[0m ×2 + 37.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378729 ms (missed cycles : 4). + 37.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378729 ms (missed cycles : 4).[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355166 ms (missed cycles : 4). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355166 ms (missed cycles : 4).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740453 ms (missed cycles : 2). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740453 ms (missed cycles : 2).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861714 ms (missed cycles : 2). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861714 ms (missed cycles : 2).[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671928 ms (missed cycles : 2). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671928 ms (missed cycles : 2).[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629028 ms (missed cycles : 2). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629028 ms (missed cycles : 2).[0m ×2 + 42.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088851 ms (missed cycles : 2). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088851 ms (missed cycles : 2).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726921 ms (missed cycles : 2). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726921 ms (missed cycles : 2).[0m ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020430 ms (missed cycles : 2). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020430 ms (missed cycles : 2).[0m ×2 + 45.60sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769292 ms (missed cycles : 2). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769292 ms (missed cycles : 2).[0m ×2 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916323 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916323 ms (missed cycles : 2).[0m ×2 + 48.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695508.69141269 seconds ×3 + 48.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174671 ms (missed cycles : 4). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174671 ms (missed cycles : 4).[0m ×2 + 49.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695509.33482742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.14sINFOobjective_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 + 49.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 49.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 49.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 49.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 49.23sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 49.24sINFOros2_control_node[2026-08-25 22:05:09.478] [info] Received new action goal ×2 + 49.24sINFOros2_control_node[2026-08-25 22:05:09.478] [info] Accepted new action goal ×2 + 49.51sWARNros2_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 + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028386 ms (missed cycles : 2). + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028386 ms (missed cycles : 2).[0m ×2 + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002852 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002852 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 157 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_node[2026-08-25 22:03:26.506] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039311111 [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 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039372551 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.31sINFOobjective_server_node[2026-08-25 22:03:27.206] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.262056035 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265335579 [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 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265364654 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.44sINFOobjective_server_node[2026-08-25 22:03:27.329] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.81sINFOobjective_server_node[0;93m2026-08-25 22:03:27.706922995 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730556091 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730584465 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4).[0m ×2 + 3.65sWARNros2_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 ×8 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695409.58867717 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695410.29005647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788504 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788504 ms (missed cycles : 3).[0m ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (7.69e-07 s). ×2 + 7.70sINFOros2_control_node[2026-08-25 22:03:33.594] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-08-25 22:03:33.594] [info] Accepted new action goal ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834502 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834502 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402596 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402596 ms (missed cycles : 2).[0m ×2 + 9.63sWARNros2_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 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440369 ms (missed cycles : 5). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.440369 ms (missed cycles : 5).[0m ×2 + 10.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.83sINFOros2_control_node[2026-08-25 22:03:36.725] [info] Received new action goal ×2 + 10.83sINFOros2_control_node[2026-08-25 22:03:36.725] [info] Accepted new action goal ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483976 ms (missed cycles : 4). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483976 ms (missed cycles : 4).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807176 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807176 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831810 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831810 ms (missed cycles : 3).[0m ×2 + 13.81sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.87sINFOros2_control_node[2026-08-25 22:03:39.758] [info] Received new action goal ×2 + 13.87sINFOros2_control_node[2026-08-25 22:03:39.758] [info] Accepted new action goal ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752562 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752562 ms (missed cycles : 3).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141927 ms (missed cycles : 4). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141927 ms (missed cycles : 4).[0m ×2 + 16.83sINFOobjective_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 + 16.83sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.83sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.83sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.83sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942860 ms (missed cycles : 5). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942860 ms (missed cycles : 5).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342982 ms (missed cycles : 5). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342982 ms (missed cycles : 5).[0m ×2 + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384190 ms (missed cycles : 5). + 19.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384190 ms (missed cycles : 5).[0m ×2 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.284554 ms (missed cycles : 5). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.284554 ms (missed cycles : 5).[0m ×2 + 20.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752826 ms (missed cycles : 5). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752826 ms (missed cycles : 5).[0m ×2 + 22.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.984502 ms (missed cycles : 6). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.984502 ms (missed cycles : 6).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221529 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221529 ms (missed cycles : 2).[0m ×2 + 24.37sINFOobjective_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 + 24.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.37sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.37sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.37sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.37sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447902 ms (missed cycles : 2). + 24.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447902 ms (missed cycles : 2).[0m ×2 + 25.25sINFOros2_control_node[2026-08-25 22:03:51.143] [info] Received new action goal ×2 + 25.25sINFOros2_control_node[2026-08-25 22:03:51.143] [info] Accepted new action goal ×2 + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585498 ms (missed cycles : 2). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585498 ms (missed cycles : 2).[0m ×2 + 26.44sINFOobjective_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 + 26.45sINFOobjective_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 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.023318 ms (missed cycles : 5). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.023318 ms (missed cycles : 5).[0m ×2 + 26.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 26.73sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 26.77sINFOros2_control_node[2026-08-25 22:03:52.667] [info] Received new action goal ×2 + 26.77sINFOros2_control_node[2026-08-25 22:03:52.667] [info] Accepted new action goal ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241235 ms (missed cycles : 4). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241235 ms (missed cycles : 4).[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580786 ms (missed cycles : 3). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580786 ms (missed cycles : 3).[0m ×2 + 29.07sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 29.07sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.08sINFOros2_control_node[2026-08-25 22:03:54.975] [info] Received new action goal ×2 + 29.08sINFOros2_control_node[2026-08-25 22:03:54.975] [info] Accepted new action goal ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521777 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521777 ms (missed cycles : 2).[0m ×2 + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084315 ms (missed cycles : 4). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084315 ms (missed cycles : 4).[0m ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441768 ms (missed cycles : 2). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441768 ms (missed cycles : 2).[0m ×2 + 32.12sINFOros2_control_node[2026-08-25 22:03:58.014] [info] Received new action goal ×2 + 32.12sINFOros2_control_node[2026-08-25 22:03:58.014] [info] Accepted new action goal ×2 + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673079 ms (missed cycles : 2). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673079 ms (missed cycles : 2).[0m ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690899 ms (missed cycles : 3). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690899 ms (missed cycles : 3).[0m ×2 + 34.71sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 34.72sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.77sINFOros2_control_node[2026-08-25 22:04:00.658] [info] Received new action goal ×2 + 34.77sINFOros2_control_node[2026-08-25 22:04:00.658] [info] Accepted new action goal ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563299 ms (missed cycles : 4). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563299 ms (missed cycles : 4).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917387 ms (missed cycles : 2). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917387 ms (missed cycles : 2).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105167 ms (missed cycles : 2). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105167 ms (missed cycles : 2).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981823 ms (missed cycles : 5). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981823 ms (missed cycles : 5).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689295 ms (missed cycles : 3). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689295 ms (missed cycles : 3).[0m ×2 + 39.94sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819081 ms (missed cycles : 4). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819081 ms (missed cycles : 4).[0m ×2 + 41.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135831 ms (missed cycles : 5). + 41.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135831 ms (missed cycles : 5).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773448 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773448 ms (missed cycles : 2).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072272 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072272 ms (missed cycles : 2).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417587 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417587 ms (missed cycles : 3).[0m ×2 + 45.47sINFOros2_control_node[2026-08-25 22:04:11.363] [info] Received new action goal ×2 + 45.47sINFOros2_control_node[2026-08-25 22:04:11.363] [info] Accepted new action goal ×2 + 45.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676865 ms (missed cycles : 2). + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676865 ms (missed cycles : 2).[0m ×2 + 46.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787695452.52029109 seconds ×3 + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843679 ms (missed cycles : 2). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843679 ms (missed cycles : 2).[0m ×2 + 47.44sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787695453.33700800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287980 ms (missed cycles : 2). + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287980 ms (missed cycles : 2).[0m ×2 + 48.62sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 48.63sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.65sINFOros2_control_node[2026-08-25 22:04:14.542] [info] Received new action goal ×2 + 48.65sINFOros2_control_node[2026-08-25 22:04:14.542] [info] Accepted new action goal ×2 + 49.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829201 ms (missed cycles : 3). + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829201 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.1s | 113 warnings · 2673 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×410 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×410 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×820 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×820 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3).[0m ×2 + 2.22sWARNros2_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 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2).[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695530.80378056 seconds ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695531.44711566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeFound path in 5 iterations (0.00608357 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.94sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3).[0m ×2 + 7.62sWARNros2_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 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841766 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841766 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351163 ms (missed cycles : 5). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.351163 ms (missed cycles : 5).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837541 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837541 ms (missed cycles : 3).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788228 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788228 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249942 ms (missed cycles : 5). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249942 ms (missed cycles : 5).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336973 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336973 ms (missed cycles : 4).[0m ×2 + 13.72sWARNros2_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 + 14.41sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263929 ms (missed cycles : 4). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263929 ms (missed cycles : 4).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394961 ms (missed cycles : 4). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394961 ms (missed cycles : 4).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467006 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467006 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982443 ms (missed cycles : 5). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982443 ms (missed cycles : 5).[0m ×2 + 18.74sWARNros2_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 + 19.31sINFOobjective_server_nodeFound path in 4 iterations (0.0034647 s). ×2 + 19.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.42sINFOobjective_server_nodeFound path in 12 iterations (0.00538409 s). ×2 + 19.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.53sINFOobjective_server_nodeFound path in 2 iterations (0.00423042 s). ×2 + 19.58sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 19.60sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 19.63sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.65sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 19.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.71sINFOobjective_server_nodeFound path in 12 iterations (0.00527006 s). ×2 + 19.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 19.80sINFOobjective_server_nodeFound path in 1 iterations (0.00493036 s). ×2 + 19.86sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370396 ms (missed cycles : 2). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370396 ms (missed cycles : 2).[0m ×2 + 19.88sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 19.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.95sINFOobjective_server_nodeFound path in 4 iterations (0.00557256 s). ×2 + 20.04sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.07sINFOobjective_server_nodeFound path in 4 iterations (0.00335524 s). ×2 + 20.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 20.21sINFOobjective_server_nodeFound path in 1 iterations (0.0064036 s). ×2 + 20.28sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.31sINFOobjective_server_nodeFound path in 1 iterations (0.00308905 s). ×2 + 20.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 20.42sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 20.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.49sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 20.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 20.61sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 20.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 20.75sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 20.86sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701383 ms (missed cycles : 3). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701383 ms (missed cycles : 3).[0m ×2 + 21.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.11sINFOros2_control_node[2026-08-25 22:05:47.889] [info] Received new action goal ×2 + 21.11sINFOros2_control_node[2026-08-25 22:05:47.889] [info] Accepted new action goal ×2 + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228682 ms (missed cycles : 4). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228682 ms (missed cycles : 4).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.659101 ms (missed cycles : 7). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.659101 ms (missed cycles : 7).[0m ×2 + 23.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743674 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743674 ms (missed cycles : 2).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240137 ms (missed cycles : 2). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240137 ms (missed cycles : 2).[0m ×2 + 26.12sINFOros2_control_node[2026-08-25 22:05:52.892] [info] Received new action goal ×2 + 26.12sINFOros2_control_node[2026-08-25 22:05:52.892] [info] Accepted new action goal ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572380 ms (missed cycles : 4). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572380 ms (missed cycles : 4).[0m ×2 + 27.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.66sINFOros2_control_node[2026-08-25 22:05:54.434] [info] Received new action goal ×2 + 27.66sINFOros2_control_node[2026-08-25 22:05:54.434] [info] Accepted new action goal ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989659 ms (missed cycles : 2). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989659 ms (missed cycles : 2).[0m ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822549 ms (missed cycles : 2). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822549 ms (missed cycles : 2).[0m ×2 + 28.88sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.92sINFOros2_control_node[2026-08-25 22:05:55.695] [info] Received new action goal ×2 + 28.92sINFOros2_control_node[2026-08-25 22:05:55.695] [info] Accepted new action goal ×2 + 29.73sWARNros2_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 + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947372 ms (missed cycles : 2). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947372 ms (missed cycles : 2).[0m ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2).[0m ×2 + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2).[0m ×2 + 33.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2). + 33.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2).[0m ×2 + 34.11sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695560.88990378 seconds ×3 + 34.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3).[0m ×2 + 34.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695561.60642743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.02sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 35.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 35.02sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Received new action goal ×2 + 35.02sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Accepted new action goal ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2).[0m ×2 + 35.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4).[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 · 13576 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2236 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2236 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4472 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4472 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020430 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020430 ms (missed cycles : 2).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769292 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769292 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916323 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916323 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695508.69141269 seconds ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×7 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174671 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174671 ms (missed cycles : 4).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695509.33482742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.82sINFOros2_control_node[2026-08-25 22:05:09.478] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:05:09.478] [info] Accepted new action goal ×2 + 5.08sWARNros2_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 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028386 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028386 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.12sINFOobjective_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 + 6.14sINFOobjective_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 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002852 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002852 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620523 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620523 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136416 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136416 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044446 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044446 ms (missed cycles : 2).[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904496 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904496 ms (missed cycles : 2).[0m ×2 + 11.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682718 ms (missed cycles : 2). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682718 ms (missed cycles : 2).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785850 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785850 ms (missed cycles : 2).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072451 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072451 ms (missed cycles : 2).[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037021 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037021 ms (missed cycles : 4).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290621 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290621 ms (missed cycles : 2).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072280 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072280 ms (missed cycles : 2).[0m ×2 + 17.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437884 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437884 ms (missed cycles : 2).[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064392 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064392 ms (missed cycles : 2).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883493 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883493 ms (missed cycles : 2).[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502698 ms (missed cycles : 2). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502698 ms (missed cycles : 2).[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107425 ms (missed cycles : 3). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107425 ms (missed cycles : 3).[0m ×2 + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2).[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3).[0m ×2 + 24.34sWARNros2_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 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2).[0m ×2 + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2).[0m ×2 + 26.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695530.80378056 seconds ×3 + 26.79sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695531.44711566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2).[0m ×2 + 26.96sINFOobjective_server_nodeFound path in 5 iterations (0.00608357 s). ×2 + 27.04sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.06sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Received new action goal ×2 + 27.06sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Accepted new action goal ×2 + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6).[0m ×2 + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 17.5s | 3 errors · 77 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [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: 1787695334.13501287 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868934 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868934 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116028 ms (missed cycles : 6). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.116028 ms (missed cycles : 6).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688135 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688135 ms (missed cycles : 2).[0m ×2 + 10.22sWARNros2_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 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.267999 ms (missed cycles : 8). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.267999 ms (missed cycles : 8).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.819156 ms (missed cycles : 6). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.819156 ms (missed cycles : 6).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351891 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351891 ms (missed cycles : 2).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.323050 ms (missed cycles : 5). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.323050 ms (missed cycles : 5).[0m ×2 + 14.57sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 14.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 14.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 14.87sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 14.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 14.98sINFOobjective_server_nodeFound path in 1 iterations (0.00303909 s). ×2 + 15.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 15.18sINFOros2_control_node[2026-08-25 22:02:26.675] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-08-25 22:02:26.675] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647214 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647214 ms (missed cycles : 3).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332740 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332740 ms (missed cycles : 2).[0m ×2 + 16.95sWARNros2_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 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732976 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732976 ms (missed cycles : 3).[0m ×2 + 17.65sINFOros2_control_node[2026-08-25 22:02:29.148] [info] Received new action goal ×2 + 17.65sINFOros2_control_node[2026-08-25 22:02:29.148] [info] Accepted new action goal ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 19.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 19.52sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 19.52sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 20.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 21.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 22.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.36sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 22.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 22.37sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 22.37sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[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 6.175382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00476198 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.94sINFOros2_control_node[2026-08-25 22:03:04.117] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-25 22:03:04.117] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958829 ms (missed cycles : 3).[0m ×2 + 1.37sINFOros2_control_node[2026-08-25 22:03:04.549] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:03:04.549] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601932 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601932 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_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 + 2.66sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.93sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1787695386.14566135 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688916 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688916 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787695386.94965315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.95sINFOros2_control_node[2026-08-25 22:03:07.123] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-25 22:03:07.123] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845508 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845508 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935151 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935151 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160141 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160141 ms (missed cycles : 2).[0m ×2 + 6.45sINFOros2_control_node[2026-08-25 22:03:09.630] [info] Received new action goal ×2 + 6.45sINFOros2_control_node[2026-08-25 22:03:09.630] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298033 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298033 ms (missed cycles : 2).[0m ×2 + 8.32sWARNros2_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 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665514 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665514 ms (missed cycles : 3).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.811113 ms (missed cycles : 6). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.811113 ms (missed cycles : 6).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900919 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900919 ms (missed cycles : 4).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720472 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720472 ms (missed cycles : 3).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5).[0m ×2 + 14.39sWARNros2_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 + 15.01sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695398.19103098 seconds ×3 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 15.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695398.85608912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695398.93623233 seconds ×3 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5).[0m ×2 + 16.36sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695399.53738236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.47sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 16.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.48sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Received new action goal ×2 + 16.48sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Accepted new action goal ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 59 errors · 43 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Got request to cancel active goal. ×2 + 0.76sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Canceling active goal... ×2 + 0.77sERRORobjective_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: 1787695617.01866150 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4).[0m ×2 + 1.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695617.62095428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695619.08108354 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695619.69462132 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: 1787695619.69691706 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695620.41756964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695620.41821218 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695621.02243829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2).[0m ×2 + 5.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695622.20256400 seconds ×3 + 5.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647359 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647359 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641641 ms (missed cycles : 5). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641641 ms (missed cycles : 5).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721880 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721880 ms (missed cycles : 2).[0m ×2 + 9.59sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962425 ms (missed cycles : 6). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.962425 ms (missed cycles : 6).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286777 ms (missed cycles : 5). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286777 ms (missed cycles : 5).[0m ×2 + 12.03sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777570 ms (missed cycles : 5). + 12.05sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.06sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.06sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.06sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.06sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 12.07sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORweb_video_auth_proxy-23process has died [pid 9074, 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 + 12.08sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.08sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 12.09sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 12.10sERRORweb_bridge_auth_proxy-22process has died [pid 9073, 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 + 12.10sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 12.11sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 12.12sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 12.14sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 12.14sINFOvideo_server-21process has finished cleanly [pid 9072] ×2 + 12.15sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777570 ms (missed cycles : 5).[0m ×2 + 12.16sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 12.18sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 12.19sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 12.21sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 12.22sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 12.23sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 12.25sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 12.26sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 12.26sINFOcontroller_managerShutdown request received.... + 12.26sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.26sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.26sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.26sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 12.26sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 12.26sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 12.26sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 12.26sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 12.26sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.27sINFOvideo_server2026/08/25 22:07:08 INF shutting down gracefully ×2 + 12.27sINFOcontroller_managerShutting down the controller manager. + 12.27sINFOvideo_server2026/08/25 22:07:08 INF [WebRTC] closing ×2 + 12.27sINFOvideo_server2026/08/25 22:07:08 INF [RTSP] closing ×2 + 12.27sINFOvideo_server2026/08/25 22:07:08 INF waiting for running hooks ×2 + 12.27sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.27sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.27sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.27sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.27sERRORmove_groupStack trace (most recent call last) in thread 9381: ×2 + 12.27sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.27sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f3eb6ba63, in __clone ×2 + 12.27sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f3eadeaa3, in ×2 + 12.27sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f3ed70db3, in ×2 + 12.27sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f2f3f4e1a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.27sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2f3f102620, in rclcpp::Rate::sleep() ×2 + 12.27sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2f3f044d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.27sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2f3f006087, in ×2 + 12.27sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f3ed3f390, in __cxa_throw ×2 + 12.27sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f3ed29a54, in std::terminate() ×2 + 12.27sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f3ed3f0d9, in ×2 + 12.27sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2f3ed29ff4, in ×2 + 12.27sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f3ea6a8fe, in abort ×2 + 12.27sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f3ea8727d, in raise ×2 + 12.27sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2f3eae0b2c, in pthread_kill ×2 + 12.27sERRORmove_groupAborted (Signal sent by tkill() 8997 0) ×2 + 12.27sWARNparameter_manager_nodeROS node was shutdown. ×2 + 12.27sERRORmove_group-9process has died [pid 8997, 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_esb3qnx0 --params-file /tmp/launch_params_jab5ziqx --params-file /tmp/launch_params_hhgdw6xm --params-file /tmp/launch_params__xvomb4m --params-file /tmp/launch_params_pcwh6e5p --params-file /tmp/launch_params_5j1de4l0']. ×2 + 12.27sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.27sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.27sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.27sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.27sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.27sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.28sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.28sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.28sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 12.28sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 12.28sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 12.28sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 12.28sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.28sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.28sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.28sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.28sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.28sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.28sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.28sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.28sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 12.47sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.48sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 13.15sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9071] ×2 + 13.15sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 13.24sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9001] ×2 + 13.25sINFOui_teleop_bridge-18process has finished cleanly [pid 9006] ×2 + 13.25sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9000] ×2 + 13.27sINFOcomponent_container_mt-16process has finished cleanly [pid 9004] ×2 + 13.27sINFOexecute_objective_bridge-17process has finished cleanly [pid 9005] ×2 + 13.30sINFOwaypoint_manager_node-11process has finished cleanly [pid 8999] ×2 + 13.32sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 13.33sINFOparameter_manager_node-10process has finished cleanly [pid 8998] ×2 + 13.41sINFOobjective_server_node[0;m[2026-08-25 22:07:09.661] [moveit_pro_license] [info] ×2 + 13.41sINFOobjective_server_node************************************************* ×4 + 13.41sINFOobjective_server_node* MoveIt Pro License ×2 + 13.41sINFOobjective_server_node* Application has successfully terminated ×2 + 13.89sINFOobjective_server_node_main-14process has finished cleanly [pid 9002] ×2 + 13.89sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 14.37sINFOcomponent_container_mt-15process has finished cleanly [pid 9003] ×2 + 14.50sINFOweb_bridge-19process has finished cleanly [pid 9007] ×2 + 14.50sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.91sINFOros2_control_node-1process has finished cleanly [pid 8960] ×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 2.773448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773448 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072272 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072272 ms (missed cycles : 2).[0m ×2 + 1.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.73sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.73sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417587 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417587 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-25 22:04:11.363] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-25 22:04:11.363] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676865 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676865 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787695452.52029109 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843679 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843679 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787695453.33700800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287980 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287980 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.79sINFOros2_control_node[2026-08-25 22:04:14.542] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-08-25 22:04:14.542] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829201 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829201 ms (missed cycles : 3).[0m ×2 + 6.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540255 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540255 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499375 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499375 ms (missed cycles : 2).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936464 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936464 ms (missed cycles : 2).[0m ×2 + 9.49sINFOobjective_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 + 9.50sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.50sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.50sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.50sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994124 ms (missed cycles : 4). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994124 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801369 ms (missed cycles : 4). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801369 ms (missed cycles : 4).[0m ×2 + 11.88sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 11.89sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.90sINFOros2_control_node[2026-08-25 22:04:20.651] [info] Received new action goal ×2 + 11.90sINFOros2_control_node[2026-08-25 22:04:20.651] [info] Accepted new action goal ×2 + 11.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288962 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288962 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824056 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824056 ms (missed cycles : 2).[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437655 ms (missed cycles : 4). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437655 ms (missed cycles : 4).[0m ×2 + 15.50sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787695464.25761032 seconds ×3 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243434 ms (missed cycles : 3). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243434 ms (missed cycles : 3).[0m ×2 + 16.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695464.86989164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.29sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 16.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.30sINFOros2_control_node[2026-08-25 22:04:25.054] [info] Received new action goal ×2 + 16.30sINFOros2_control_node[2026-08-25 22:04:25.054] [info] Accepted new action goal ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291800 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291800 ms (missed cycles : 2).[0m ×2 + 17.57sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.58sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835358 ms (missed cycles : 7). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835358 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022031 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022031 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431532 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431532 ms (missed cycles : 5).[0m ×2 + 1.15sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.26sWARNros2_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 + 1.43sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.43sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.44sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787695372.89274073 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283300 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283300 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672422 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672422 ms (missed cycles : 2).[0m ×2 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204170 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204170 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787695375.64166045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-25 22:02:55.835] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-25 22:02:55.835] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762687 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762687 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699012 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699012 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637862 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637862 ms (missed cycles : 2).[0m ×2 + 7.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460241 ms (missed cycles : 5). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460241 ms (missed cycles : 5).[0m ×2 + 8.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.65sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 0 iterations (8.46e-07 s). ×2 + 9.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.07sINFOobjective_server_nodeFound path in 1 iterations (0.00266382 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 1 iterations (0.00415621 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383196 ms (missed cycles : 6). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383196 ms (missed cycles : 6).[0m ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.68sINFOros2_control_node[2026-08-25 22:03:01.119] [info] Received new action goal ×2 + 9.68sINFOros2_control_node[2026-08-25 22:03:01.119] [info] Accepted new action goal ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287273 ms (missed cycles : 5). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287273 ms (missed cycles : 5).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175382 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175382 ms (missed cycles : 4).[0m ×2 + 12.36sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.37sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 12.37sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.38sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 12.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.48sINFOobjective_server_nodeFound path in 1 iterations (0.00476198 s). ×2 + 12.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.67sINFOros2_control_node[2026-08-25 22:03:04.117] [info] Received new action goal ×2 + 12.67sINFOros2_control_node[2026-08-25 22:03:04.117] [info] Accepted new action goal ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958829 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958829 ms (missed cycles : 3).[0m ×2 + 13.11sINFOros2_control_node[2026-08-25 22:03:04.549] [info] Received new action goal ×2 + 13.11sINFOros2_control_node[2026-08-25 22:03:04.549] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601932 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601932 ms (missed cycles : 2).[0m ×2 + 14.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 14.39sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.66sINFOobjective_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 + 14.67sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.67sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.67sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.70sERRORobjective_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: 1787695386.14566135 seconds ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688916 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688916 ms (missed cycles : 2).[0m ×2 + 15.51sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787695386.94965315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 15.68sINFOros2_control_node[2026-08-25 22:03:07.123] [info] Received new action goal ×2 + 15.68sINFOros2_control_node[2026-08-25 22:03:07.123] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845508 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845508 ms (missed cycles : 3).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935151 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935151 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 54 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2).[0m ×2 + 2.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695560.88990378 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695561.60642743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.209344 ms (missed cycles : 7). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.209344 ms (missed cycles : 7).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917878 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917878 ms (missed cycles : 3).[0m ×2 + 8.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.05sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.12sINFOros2_control_nodeMuJoCo sim: 0.43% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 1 iterations (0.00313031 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.60sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.64sINFOros2_control_node[2026-08-25 22:06:06.358] [info] Received new action goal ×2 + 8.64sINFOros2_control_node[2026-08-25 22:06:06.358] [info] Accepted new action goal ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707404 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707404 ms (missed cycles : 2).[0m ×2 + 10.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805925 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805925 ms (missed cycles : 2).[0m ×2 + 11.11sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 11.11sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 13.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.02sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 13.02sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 14.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.29sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 14.30sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 14.31sERRORobjective_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: 1787695572.03207326 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 15.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.18sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 16.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 17.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 60 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.80sERRORobjective_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: 1787695604.52369452 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947857 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947857 ms (missed cycles : 4).[0m ×2 + 7.31sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.31sINFOros2_control_node[2026-08-25 22:06:50.037] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-08-25 22:06:50.037] [info] Accepted new action goal ×2 + 7.31sINFOros2_control_node[2026-08-25 22:06:50.038] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730380 ms (missed cycles : 4). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730380 ms (missed cycles : 4).[0m ×2 + 7.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699421 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699421 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299684 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299684 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2).[0m ×2 + 12.86sWARNros2_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 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2).[0m ×2 + 14.29sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Got request to cancel active goal. ×2 + 14.29sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Canceling active goal... ×2 + 14.29sERRORobjective_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: 1787695617.01866150 seconds ×3 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4).[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695617.62095428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2).[0m ×2 + 16.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695619.08108354 seconds ×3 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3).[0m ×2 + 16.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695619.69462132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.97sINFOobjective_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 + 16.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695619.69691706 seconds ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNros2_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 ×4 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.049382 ms (missed cycles : 7). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.049382 ms (missed cycles : 7).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271702 ms (missed cycles : 4). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271702 ms (missed cycles : 4).[0m ×2 + 8.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.56sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169136 ms (missed cycles : 5). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169136 ms (missed cycles : 5).[0m ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (5.85e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (1.164e-06 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 1 iterations (0.00278245 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 1 iterations (0.00436116 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.61sINFOros2_control_node[2026-08-25 22:02:50.168] [info] Received new action goal ×2 + 9.61sINFOros2_control_node[2026-08-25 22:02:50.168] [info] Accepted new action goal ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419253 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419253 ms (missed cycles : 3).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022031 ms (missed cycles : 4). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022031 ms (missed cycles : 4).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431532 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431532 ms (missed cycles : 5).[0m ×2 + 12.04sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787695372.89274073 seconds ×3 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283300 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283300 ms (missed cycles : 4).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672422 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672422 ms (missed cycles : 2).[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204170 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204170 ms (missed cycles : 3).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787695375.64166045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 15.28sINFOros2_control_node[2026-08-25 22:02:55.835] [info] Received new action goal ×2 + 15.28sINFOros2_control_node[2026-08-25 22:02:55.835] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762687 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762687 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699012 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699012 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 55 warnings · 105 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435628 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435628 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325000 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325000 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518788 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518788 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555271 ms (missed cycles : 4). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555271 ms (missed cycles : 4).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672692 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672692 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794108 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794108 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773032 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773032 ms (missed cycles : 2).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014999 ms (missed cycles : 4). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014999 ms (missed cycles : 4).[0m ×2 + 14.19sERRORobjective_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: 1787695583.01858306 seconds ×3 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598941 ms (missed cycles : 4). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598941 ms (missed cycles : 4).[0m ×2 + 14.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787695583.65566063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.14sINFOros2_control_node[2026-08-25 22:06:23.966] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-08-25 22:06:23.966] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243795 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243795 ms (missed cycles : 2).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318715 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318715 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 54 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153259 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153259 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559997 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559997 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787695593.57830024 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433846 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433846 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787695594.18341208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-08-25 22:06:34.317] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-25 22:06:34.318] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873451 ms (missed cycles : 6). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873451 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524455 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524455 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034803 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034803 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133384 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133384 ms (missed cycles : 2).[0m ×2 + 8.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206004 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206004 ms (missed cycles : 4).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3).[0m ×2 + 14.29sINFOobjective_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 + 14.29sERRORobjective_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: 1787695604.52369452 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 15.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 16.37sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.49sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 16.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.50sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 16.50sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.20sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.42sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 + 6.30sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100021 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100021 ms (missed cycles : 5).[0m ×2 + 6.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.93sINFOros2_control_node[2026-08-25 22:02:06.464] [info] Received new action goal ×2 + 6.93sINFOros2_control_node[2026-08-25 22:02:06.464] [info] Accepted new action goal ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490743 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490743 ms (missed cycles : 5).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406981 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406981 ms (missed cycles : 4).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631988 ms (missed cycles : 4). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631988 ms (missed cycles : 4).[0m ×2 + 9.97sWARNros2_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 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 10.68sINFOros2_control_node[2026-08-25 22:02:10.213] [info] Received new action goal ×2 + 10.68sINFOros2_control_node[2026-08-25 22:02:10.213] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964972 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964972 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 14.00sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 14.01sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.02sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 14.02sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 14.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 14.58sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Canceling active goal... ×2 + 14.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787695334.13501287 seconds ×3 + 14.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 15.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 15.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sWARNros2_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 + 16.16sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 16.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.17sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 16.17sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 4.46sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534179 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.534179 ms (missed cycles : 4).[0m ×2 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (4.86e-07 s). ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.21sINFOros2_control_node[2026-08-25 22:02:37.226] [info] Received new action goal ×2 + 7.21sINFOros2_control_node[2026-08-25 22:02:37.226] [info] Accepted new action goal ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045504 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045504 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758930 ms (missed cycles : 5). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758930 ms (missed cycles : 5).[0m ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 9.55sINFOros2_control_node[2026-08-25 22:02:39.573] [info] Received new action goal ×2 + 9.55sINFOros2_control_node[2026-08-25 22:02:39.573] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322894 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322894 ms (missed cycles : 2).[0m ×2 + 10.53sWARNros2_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 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 11.90sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 11.90sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 11.90sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[0m ×2 + 13.99sINFOobjective_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 + 13.99sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 14.00sERRORobjective_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: 1787695364.02486467 seconds ×3 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 14.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 14.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.85sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 16.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 54 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672692 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672692 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794108 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794108 ms (missed cycles : 3).[0m ×2 + 1.25sWARNros2_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 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773032 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773032 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014999 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014999 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sERRORobjective_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: 1787695583.01858306 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598941 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598941 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787695583.65566063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 22:06:23.966] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 22:06:23.966] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243795 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243795 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318715 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318715 ms (missed cycles : 3).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377094 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377094 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555456 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555456 ms (missed cycles : 2).[0m ×2 + 8.52sINFOros2_control_node[2026-08-25 22:06:27.993] [info] Received new action goal ×2 + 8.52sINFOros2_control_node[2026-08-25 22:06:27.993] [info] Accepted new action goal ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657203 ms (missed cycles : 4). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657203 ms (missed cycles : 4).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153259 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153259 ms (missed cycles : 4).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559997 ms (missed cycles : 4). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559997 ms (missed cycles : 4).[0m ×2 + 13.25sWARNros2_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 + 14.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787695593.57830024 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433846 ms (missed cycles : 4). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433846 ms (missed cycles : 4).[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787695594.18341208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 14.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.84sINFOros2_control_node[2026-08-25 22:06:34.317] [info] Received new action goal ×2 + 14.84sINFOros2_control_node[2026-08-25 22:06:34.318] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873451 ms (missed cycles : 6). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873451 ms (missed cycles : 6).[0m ×2 + 16.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524455 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524455 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.9s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695398.85608912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695398.93623233 seconds ×3 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695399.53738236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.81sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Accepted new action goal ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695401.66751957 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2).[0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713555 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713555 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787695403.26456475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977182 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977182 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_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 + 5.78sINFOobjective_server_node[2026-08-25 22:03:24.632] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153446 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153446 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_node[0;93m2026-08-25 22:03:25.452045928 [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 + 6.60sINFOobjective_server_node[0;93m2026-08-25 22:03:25.452082099 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2).[0m ×2 + 7.65sINFOobjective_server_node[2026-08-25 22:03:26.506] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2).[0m ×2 + 8.18sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039311111 [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 + 8.18sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039372551 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.35sINFOobjective_server_node[2026-08-25 22:03:27.206] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.41sINFOobjective_server_node[0;93m2026-08-25 22:03:27.262056035 [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 + 8.41sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265335579 [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 + 8.41sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265364654 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.47sINFOobjective_server_node[2026-08-25 22:03:27.329] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.85sINFOobjective_server_node[0;93m2026-08-25 22:03:27.706922995 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.88sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730556091 [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 + 8.88sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730584465 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4).[0m ×2 + 10.69sWARNros2_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 + 10.73sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695409.58867717 seconds ×3 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3).[0m ×2 + 11.43sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695410.29005647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.52sINFOobjective_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 + 11.52sINFOobjective_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 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 11.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.86sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Received new action goal ×2 + 11.86sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Accepted new action goal ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2).[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 3.720472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720472 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695398.19103098 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695398.85608912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695398.93623233 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695399.53738236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695401.66751957 seconds ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713555 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713555 ms (missed cycles : 3).[0m ×2 + 8.15sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787695403.26456475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977182 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977182 ms (missed cycles : 2).[0m ×2 + 8.71sWARNros2_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 + 9.52sINFOobjective_server_node[2026-08-25 22:03:24.632] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153446 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153446 ms (missed cycles : 3).[0m ×2 + 10.34sINFOobjective_server_node[0;93m2026-08-25 22:03:25.452045928 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.34sINFOobjective_server_node[0;93m2026-08-25 22:03:25.452082099 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 3 errors · 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1787695617.01866150 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695617.62095428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695619.08108354 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695619.69462132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.54sINFOobjective_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 + 6.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695619.69691706 seconds ×3 + 7.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695620.41756964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695620.41821218 seconds ×3 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3).[0m ×2 + 7.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695621.02243829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2).[0m ×2 + 8.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 33 warnings · 565 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.31sINFOobjective_server_node[2026-08-25 22:01:55.370] [moveit_pro_license] [info] ×2 + 0.31sINFOobjective_server_node************************************************* ×4 + 0.31sINFOobjective_server_node* MoveIt Pro License ×2 + 0.31sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.44sINFOobjective_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 + 0.44sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.45sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.63sINFOcomponent_container_mt[2026-08-25 22:01:55.689] [moveit_pro_license] [info] ×2 + 0.63sINFOcomponent_container_mt************************************************* ×4 + 0.63sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.63sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.70sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.70sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.76sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.76sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.76sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.76sWARNros2_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 + 0.76sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.76sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.76sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.76sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.76sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.76sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.76sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.76sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.76sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.76sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.76sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.76sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.76sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.76sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.76sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.98sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.16sWARNobjective_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 + 1.17sINFOros2_control_node[2026-08-25 22:01:56.228] [info] Controller state will be published at 20 Hz. ×2 + 1.17sINFOros2_control_node[2026-08-25 22:01:56.229] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOros2_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 + 1.30sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.30sWARNros2_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 + 1.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.45sINFOros2-8process has finished cleanly [pid 8967] ×2 + 1.52sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.52sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.57sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.57sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.58sINFOros2_control_node[2026-08-25 22:01:56.632] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.58sINFOros2_control_node[2026-08-25 22:01:56.632] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.61sINFOros2_control_node[2026-08-25 22:01:56.666] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.61sINFOros2_control_node[2026-08-25 22:01:56.666] [info] Controller state will be published at 50 Hz. ×2 + 1.62sINFOros2_control_node[2026-08-25 22:01:56.673] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2).[0m ×2 + 1.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.92sINFOros2-6process has finished cleanly [pid 8965] ×2 + 1.93sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.93sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.93sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.94sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.95sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.95sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.32sINFOros2-3process has finished cleanly [pid 8962] ×2 + 2.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 2.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 2.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.41sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 2.42sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.71sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.71sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 2.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 2.73sINFOros2-7process has finished cleanly [pid 8966] ×2 + 2.76sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.77sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.77sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 3.11sINFOros2-4process has finished cleanly [pid 8963] ×2 + 3.12sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.12sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 3.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 3.14sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.20sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.20sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.20sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.20sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.21sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.21sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 3.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 3.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 3.55sINFOros2-5process has finished cleanly [pid 8964] ×2 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.60sINFOforce_torque_sensor_broadcasterconfigure successful + 3.60sINFOros2_control_nodeconfigure successful[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.92sINFOros2-2process has finished cleanly [pid 8961] ×2 + 4.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 5.13sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 6.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 7.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 7.68sWARNros2_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 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 8.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964972 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964972 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.10sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Canceling active goal... ×2 + 3.68sERRORobjective_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: 1787695334.13501287 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.12sWARNros2_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 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.25sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 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 3.720472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720472 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695398.19103098 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695398.85608912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695398.93623233 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695399.53738236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695401.66751957 seconds ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNros2_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 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 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 + 1.42sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Got request to cancel active goal. ×2 + 1.42sINFOros2_control_node[2026-08-25 22:06:57.013] [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: 1787695617.01866150 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695617.62095428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695619.08108354 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695619.69462132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.11sINFOobjective_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 + 4.11sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.11sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695619.69691706 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695620.41756964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695620.41821218 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695621.02243829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2).[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695622.20256400 seconds ×3 + 6.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647359 ms (missed cycles : 2). | ||||
| ✓ 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 3.732976 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732976 ms (missed cycles : 3).[0m ×2 + 0.14sINFOros2_control_node[2026-08-25 22:02:29.148] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-25 22:02:29.148] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 1.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.00sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.86sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 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 + 3.94sERRORobjective_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: 1787695604.52369452 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 28 warnings · 433 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.02sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8965] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-3process has finished cleanly [pid 8962] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8966] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8963] ×2 + 1.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 1.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.67sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.68sINFOros2-5process has finished cleanly [pid 8964] ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.73sINFOforce_torque_sensor_broadcasterconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.05sINFOros2-2process has finished cleanly [pid 8961] ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 3.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 5.81sWARNros2_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 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_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 + 6.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.03sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 7.03sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1787695604.52369452 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 3.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.03sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[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 2.672793 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_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 + 1.77sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Got request to cancel active goal. ×2 + 1.77sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Canceling active goal... ×2 + 1.77sERRORobjective_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: 1787695617.01866150 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695617.62095428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695619.08108354 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695619.69462132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.45sINFOobjective_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 + 4.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695619.69691706 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695620.41756964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695620.41821218 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342827 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695621.02243829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085743 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695622.20256400 seconds ×3 + 6.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_node[2026-08-25 22:03:26.506] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039311111 [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 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039372551 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.31sINFOobjective_server_node[2026-08-25 22:03:27.206] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.262056035 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265335579 [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 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265364654 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.44sINFOobjective_server_node[2026-08-25 22:03:27.329] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.81sINFOobjective_server_node[0;93m2026-08-25 22:03:27.706922995 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730556091 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730584465 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4).[0m ×2 + 3.65sWARNros2_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 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695409.58867717 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695410.29005647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.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 2.335091 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [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: 1787695334.13501287 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sWARNros2_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 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 5.435983 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 4.46sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[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 5.435983 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 4.46sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − 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 6.175382 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175382 ms (missed cycles : 4).[0m ×2 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00476198 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.94sINFOros2_control_node[2026-08-25 22:03:04.117] [info] Received new action goal ×2 + 0.94sINFOros2_control_node[2026-08-25 22:03:04.117] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958829 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958829 ms (missed cycles : 3).[0m ×2 + 1.37sINFOros2_control_node[2026-08-25 22:03:04.549] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:03:04.549] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601932 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601932 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_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 + 2.66sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.93sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1787695386.14566135 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688916 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688916 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787695386.94965315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.95sINFOros2_control_node[2026-08-25 22:03:07.123] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-25 22:03:07.123] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845508 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845508 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935151 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935151 ms (missed cycles : 2).[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 3.720472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720472 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877294 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191942 ms (missed cycles : 5).[0m ×2 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695398.19103098 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695398.85608912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695398.93623233 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695399.53738236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_node[2026-08-25 22:03:26.506] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039311111 [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 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039372551 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.31sINFOobjective_server_node[2026-08-25 22:03:27.206] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.262056035 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265335579 [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 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265364654 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.44sINFOobjective_server_node[2026-08-25 22:03:27.329] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.81sINFOobjective_server_node[0;93m2026-08-25 22:03:27.706922995 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730556091 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730584465 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4).[0m ×2 + 3.65sWARNros2_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 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695409.58867717 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695410.29005647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 91 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801369 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_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 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.30sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.30sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.30sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.31sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.42sINFOros2_control_node[2026-08-25 22:04:20.651] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-25 22:04:20.651] [info] Accepted new action goal ×2 + 0.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288962 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288962 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824056 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824056 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437655 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437655 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787695464.25761032 seconds ×3 + 4.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243434 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243434 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695464.86989164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.82sINFOros2_control_node[2026-08-25 22:04:25.054] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:04:25.054] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291800 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291800 ms (missed cycles : 2).[0m ×2 + 6.08sINFOobjective_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_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.15sINFOobjective_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 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835358 ms (missed cycles : 7). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835358 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672692 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672692 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794108 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794108 ms (missed cycles : 3).[0m ×2 + 1.25sWARNros2_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 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773032 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773032 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014999 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014999 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sERRORobjective_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: 1787695583.01858306 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598941 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598941 ms (missed cycles : 4).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787695583.65566063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 22:06:23.966] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 22:06:23.966] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243795 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243795 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318715 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318715 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153259 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153259 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790558 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559997 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559997 ms (missed cycles : 4).[0m ×2 + 2.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787695593.57830024 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433846 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433846 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787695594.18341208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-08-25 22:06:34.317] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-25 22:06:34.318] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873451 ms (missed cycles : 6). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.873451 ms (missed cycles : 6).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524455 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524455 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 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 + 3.94sERRORobjective_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: 1787695604.52369452 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sERRORobjective_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: 1787695604.52369452 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sERRORobjective_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: 1787695604.52369452 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sERRORobjective_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: 1787695604.52369452 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_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 + 3.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818827 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1787695617.01866150 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695617.62095428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695619.08108354 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695619.69462132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.54sINFOobjective_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 + 6.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695619.69691706 seconds ×3 | ||||
| − 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 2.964972 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964972 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.10sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Canceling active goal... ×2 + 3.68sERRORobjective_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: 1787695334.13501287 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.12sWARNros2_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 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.25sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964972 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964972 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.08sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.10sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 3.10sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Canceling active goal... ×2 + 3.68sERRORobjective_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: 1787695334.13501287 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.12sWARNros2_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 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.25sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_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 2.335091 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [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: 1787695334.13501287 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sWARNros2_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.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 2.335091 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [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: 1787695334.13501287 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sWARNros2_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.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 2.335091 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335091 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561103 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.04sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Received new action goal ×2 + 2.06sINFOros2_control_node[2026-08-25 22:02:13.553] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622560 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-25 22:02:14.119] [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: 1787695334.13501287 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335133 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695334.77641082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695334.88656259 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695335.51466537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sWARNros2_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 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-25 22:02:15.708] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699644 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654599 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242380 ms (missed cycles : 2).[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 5.435983 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 4.46sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[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 5.435983 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 4.46sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[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 5.435983 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435983 ms (missed cycles : 4).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-25 22:02:31.010] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577367 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711246 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695352.39650679 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695353.02785444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695353.08799720 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711245 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695353.74210358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-25 22:02:33.866] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.828614 ms (missed cycles : 5).[0m ×2 + 4.46sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381219 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547521 ms (missed cycles : 3).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432585 ms (missed cycles : 3).[0m ×2 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-25 22:02:41.924] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192665 ms (missed cycles : 4).[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 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Got request to cancel active goal. ×2 + 3.46sINFOros2_control_node[2026-08-25 22:02:44.012] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1787695364.02486467 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027891 ms (missed cycles : 5).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695364.67053795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-25 22:02:44.864] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981730 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778761 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_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 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695398.85608912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695398.93623233 seconds ×3 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381129 ms (missed cycles : 5).[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695399.53738236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (6.19e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.81sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-08-25 22:03:19.661] [info] Accepted new action goal ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094743 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695401.66751957 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851052 ms (missed cycles : 2).[0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713555 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713555 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787695403.26456475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977182 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977182 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_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 + 5.78sINFOobjective_server_node[2026-08-25 22:03:24.632] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153446 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153446 ms (missed cycles : 3).[0m ×2 + 6.60sINFOobjective_server_node[0;93m2026-08-25 22:03:25.452045928 [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 + 6.60sINFOobjective_server_node[0;93m2026-08-25 22:03:25.452082099 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_node[2026-08-25 22:03:26.506] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039311111 [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 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039372551 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.31sINFOobjective_server_node[2026-08-25 22:03:27.206] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.262056035 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265335579 [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 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265364654 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.44sINFOobjective_server_node[2026-08-25 22:03:27.329] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.81sINFOobjective_server_node[0;93m2026-08-25 22:03:27.706922995 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730556091 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730584465 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4).[0m ×2 + 3.65sWARNros2_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 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695409.58867717 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695410.29005647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_node[2026-08-25 22:03:26.506] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039311111 [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 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039372551 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.31sINFOobjective_server_node[2026-08-25 22:03:27.206] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.262056035 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265335579 [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 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265364654 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.44sINFOobjective_server_node[2026-08-25 22:03:27.329] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.81sINFOobjective_server_node[0;93m2026-08-25 22:03:27.706922995 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730556091 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730584465 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4).[0m ×2 + 3.65sWARNros2_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 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695409.58867717 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695410.29005647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098286 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_node[2026-08-25 22:03:26.506] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303566 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039311111 [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 + 1.15sINFOobjective_server_node[0;93m2026-08-25 22:03:27.039372551 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.31sINFOobjective_server_node[2026-08-25 22:03:27.206] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.262056035 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265335579 [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 + 1.37sINFOobjective_server_node[0;93m2026-08-25 22:03:27.265364654 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.44sINFOobjective_server_node[2026-08-25 22:03:27.329] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.81sINFOobjective_server_node[0;93m2026-08-25 22:03:27.706922995 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730556091 [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 + 1.84sINFOobjective_server_node[0;93m2026-08-25 22:03:27.730584465 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362746 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169558 ms (missed cycles : 4).[0m ×2 + 3.65sWARNros2_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 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695409.58867717 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241248 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695410.29005647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.49sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-25 22:03:30.717] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679354 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307649 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2529 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×410 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×410 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×820 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×820 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3).[0m ×2 + 2.22sWARNros2_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 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2).[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695530.80378056 seconds ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695531.44711566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeFound path in 5 iterations (0.00608357 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.94sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2529 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×410 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×410 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×820 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×820 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131174 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524726 ms (missed cycles : 3).[0m ×2 + 2.22sWARNros2_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 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974209 ms (missed cycles : 2).[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696580 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695530.80378056 seconds ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695531.44711566 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718590 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeFound path in 5 iterations (0.00608357 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.94sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-25 22:05:31.715] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504970 ms (missed cycles : 6).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866393 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2).[0m ×2 + 2.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695560.88990378 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695561.60642743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205130 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235216 ms (missed cycles : 2).[0m ×2 + 2.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922101 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695560.88990378 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960431 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695561.60642743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-25 22:06:01.800] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019752 ms (missed cycles : 2).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693365 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-25 22:06:08.830] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801603 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920663 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-25 22:06:10.741] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709513 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-25 22:06:12.017] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1787695572.03207326 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025654 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695572.71797109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-25 22:06:12.902] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670094 ms (missed cycles : 6).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728941 ms (missed cycles : 3).[0m ×2 + 5.82sWARNros2_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 + 5.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 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 + 3.94sERRORobjective_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: 1787695604.52369452 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 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 + 3.94sERRORobjective_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: 1787695604.52369452 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762954 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714577 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787152 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 + 3.94sERRORobjective_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: 1787695604.52369452 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689064 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695605.17643952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695605.26657939 seconds ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695605.85999942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695605.88211465 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930485 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695606.60332537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Received new action goal ×2 + 6.14sINFOros2_control_node[2026-08-25 22:06:46.727] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.110302 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084955 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051831 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672793 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051899 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_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 + 3.85sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-25 22:06:57.013] [info] Canceling active goal... ×2 + 3.86sERRORobjective_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: 1787695617.01866150 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600157 ms (missed cycles : 4).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695617.62095428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278275 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695619.08108354 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731330 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695619.69462132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.54sINFOobjective_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 + 6.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695619.69691706 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.1s | 40 warnings · 623 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-25-22-01-49-553667-b9850d5b3958-8912 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566824 ms (missed cycles : 4). + 2.09sINFOros2_control_node-1process started with pid [8960] ×2 + 2.09sINFOmove_group-9process started with pid [8997] ×2 + 2.09sINFOparameter_manager_node-10process started with pid [8998] ×2 + 2.09sINFOwaypoint_manager_node-11process started with pid [8999] ×2 + 2.09sINFOmove_joint_resampler_node-12process started with pid [9000] ×2 + 2.09sINFOmove_end_effector_resampler_node-13process started with pid [9001] ×2 + 2.09sINFOobjective_server_node_main-14process started with pid [9002] ×2 + 2.09sINFOcomponent_container_mt-15process started with pid [9003] ×2 + 2.09sINFOcomponent_container_mt-16process started with pid [9004] ×2 + 2.09sINFOexecute_objective_bridge-17process started with pid [9005] ×2 + 2.09sINFOui_teleop_bridge-18process started with pid [9006] ×2 + 2.09sINFOweb_bridge-19process started with pid [9007] ×2 + 2.09sINFOtf2_web_republisher_node-20process started with pid [9071] ×2 + 2.09sINFOvideo_server-21process started with pid [9072] ×2 + 2.09sINFOweb_bridge_auth_proxy-22process started with pid [9073] ×2 + 2.09sINFOweb_video_auth_proxy-23process started with pid [9074] ×2 + 2.11sINFOros2-2process started with pid [8961] ×2 + 2.11sINFOros2-3process started with pid [8962] ×2 + 2.11sINFOros2-4process started with pid [8963] ×2 + 2.11sINFOros2-5process started with pid [8964] ×2 + 2.11sINFOros2-6process started with pid [8965] ×2 + 2.11sINFOros2-7process started with pid [8966] ×2 + 2.11sINFOros2-8process started with pid [8967] ×2 + 2.14sINFOcontroller_managerReceived robot description from topic. + 2.14sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.16sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.17sWARNros2_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 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566824 ms (missed cycles : 4).[0m ×2 + 2.18sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.18sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.31sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.47sINFOvideo_server2026/08/25 22:01:52 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.47sINFOvideo_server2026/08/25 22:01:52 INF configuration loaded from /tmp/moveit-webrtc-5qxq7k6m/mediamtx.yml ×2 + 2.48sINFOvideo_server2026/08/25 22:01:52 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.48sINFOvideo_server2026/08/25 22:01:52 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767835 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767835 ms (missed cycles : 2).[0m ×2 + 3.32sINFOmove_group[2026-08-25 22:01:53.634] [moveit_pro_license] [info] ×2 + 3.32sINFOmove_group************************************************* ×4 + 3.32sINFOmove_group* MoveIt Pro License ×2 + 3.32sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.37sINFOwaypoint_manager_node[2026-08-25 22:01:53.686] [moveit_pro_license] [info] ×2 + 3.37sINFOwaypoint_manager_node************************************************* ×4 + 3.37sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.37sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.40sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.40sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.41sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.41sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.45sINFOros2_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 + 3.45sINFOros2_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 + 3.51sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.80sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.97sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.97sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199272 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199272 ms (missed cycles : 2).[0m ×2 + 4.05sINFOmove_group ×4 + 4.05sINFOmove_group[92mYou can start planning now![0m ×2 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.06sINFOobjective_server_node[2026-08-25 22:01:55.370] [moveit_pro_license] [info] ×2 + 5.06sINFOobjective_server_node************************************************* ×4 + 5.06sINFOobjective_server_node* MoveIt Pro License ×2 + 5.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.18sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.18sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.19sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.19sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.19sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.19sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.19sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.19sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.19sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.19sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.38sINFOcomponent_container_mt[2026-08-25 22:01:55.689] [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 + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.44sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.44sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.50sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.50sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.50sWARNros2_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 + 5.50sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.50sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.50sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.50sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.50sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.50sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.50sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.50sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.50sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.50sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.51sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.51sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.51sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.73sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.73sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 5.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 5.85sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.86sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.86sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.86sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.90sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.91sINFOros2_control_node[2026-08-25 22:01:56.228] [info] Controller state will be published at 20 Hz. ×2 + 5.92sINFOros2_control_node[2026-08-25 22:01:56.229] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.04sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 6.04sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.04sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 6.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.18sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.18sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.20sINFOros2-8process has finished cleanly [pid 8967] ×2 + 6.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 6.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 6.32sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.32sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.32sINFOros2_control_node[2026-08-25 22:01:56.632] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.32sINFOros2_control_node[2026-08-25 22:01:56.632] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.35sINFOros2_control_node[2026-08-25 22:01:56.666] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.35sINFOros2_control_node[2026-08-25 22:01:56.666] [info] Controller state will be published at 50 Hz. ×2 + 6.36sINFOros2_control_node[2026-08-25 22:01:56.673] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2).[0m ×2 + 6.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 6.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 6.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.66sINFOros2-6process has finished cleanly [pid 8965] ×2 + 6.67sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.68sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.68sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.68sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.68sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.68sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.69sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.69sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.99sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.99sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.06sINFOros2-3process has finished cleanly [pid 8962] ×2 + 7.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 7.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 7.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.16sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 7.16sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.46sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 7.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 7.48sINFOros2-7process has finished cleanly [pid 8966] ×2 + 7.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.85sINFOros2-4process has finished cleanly [pid 8963] ×2 + 7.86sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.86sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.86sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.87sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 7.87sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 7.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.93sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.93sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.94sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.94sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.95sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.95sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 8.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 8.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.29sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 8.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 8.30sINFOros2-5process has finished cleanly [pid 8964] ×2 + 8.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.34sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.34sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.34sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.34sINFOforce_torque_sensor_broadcasterconfigure successful + 8.34sINFOros2_control_nodeconfigure successful[0m ×2 + 8.35sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.35sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.35sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.35sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.67sINFOros2-2process has finished cleanly [pid 8961] ×2 + 8.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 9.87sWARNros2_control_nodeCamera render tick took 1.87 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 + 9.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 10.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 11.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8963] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 0.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.44sINFOros2-5process has finished cleanly [pid 8964] ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOros2-2process has finished cleanly [pid 8961] ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 2.02sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 4.57sWARNros2_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 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 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. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_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 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_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 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 398 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8962] ×2 + 0.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 0.10sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 8966] ×2 + 0.45sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.79sINFOros2-4process has finished cleanly [pid 8963] ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.88sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.88sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.88sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.89sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.89sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 1.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.22sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.23sINFOros2-5process has finished cleanly [pid 8964] ×2 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOros2_control_nodeconfigure successful[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.29sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.29sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.60sINFOros2-2process has finished cleanly [pid 8961] ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 2.81sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 5.36sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 6.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 8963] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 0.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.44sINFOros2-5process has finished cleanly [pid 8964] ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOros2-2process has finished cleanly [pid 8961] ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 2.02sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 4.57sWARNros2_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 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 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. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_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 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_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 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.02sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8965] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-3process has finished cleanly [pid 8962] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8966] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8963] ×2 + 1.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 1.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.67sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.68sINFOros2-5process has finished cleanly [pid 8964] ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.73sINFOforce_torque_sensor_broadcasterconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.05sINFOros2-2process has finished cleanly [pid 8961] ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 3.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 5.81sWARNros2_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 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-25-22-01-49-553667-b9850d5b3958-8912 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566824 ms (missed cycles : 4). + 2.09sINFOros2_control_node-1process started with pid [8960] ×2 + 2.09sINFOmove_group-9process started with pid [8997] ×2 + 2.09sINFOparameter_manager_node-10process started with pid [8998] ×2 + 2.09sINFOwaypoint_manager_node-11process started with pid [8999] ×2 + 2.09sINFOmove_joint_resampler_node-12process started with pid [9000] ×2 + 2.09sINFOmove_end_effector_resampler_node-13process started with pid [9001] ×2 + 2.09sINFOobjective_server_node_main-14process started with pid [9002] ×2 + 2.09sINFOcomponent_container_mt-15process started with pid [9003] ×2 + 2.09sINFOcomponent_container_mt-16process started with pid [9004] ×2 + 2.09sINFOexecute_objective_bridge-17process started with pid [9005] ×2 + 2.09sINFOui_teleop_bridge-18process started with pid [9006] ×2 + 2.09sINFOweb_bridge-19process started with pid [9007] ×2 + 2.09sINFOtf2_web_republisher_node-20process started with pid [9071] ×2 + 2.09sINFOvideo_server-21process started with pid [9072] ×2 + 2.09sINFOweb_bridge_auth_proxy-22process started with pid [9073] ×2 + 2.09sINFOweb_video_auth_proxy-23process started with pid [9074] ×2 + 2.11sINFOros2-2process started with pid [8961] ×2 + 2.11sINFOros2-3process started with pid [8962] ×2 + 2.11sINFOros2-4process started with pid [8963] ×2 + 2.11sINFOros2-5process started with pid [8964] ×2 + 2.11sINFOros2-6process started with pid [8965] ×2 + 2.11sINFOros2-7process started with pid [8966] ×2 + 2.11sINFOros2-8process started with pid [8967] ×2 + 2.14sINFOcontroller_managerReceived robot description from topic. + 2.14sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.16sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.17sWARNros2_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 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.566824 ms (missed cycles : 4).[0m ×2 + 2.18sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.18sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.31sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.47sINFOvideo_server2026/08/25 22:01:52 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.47sINFOvideo_server2026/08/25 22:01:52 INF configuration loaded from /tmp/moveit-webrtc-5qxq7k6m/mediamtx.yml ×2 + 2.48sINFOvideo_server2026/08/25 22:01:52 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.48sINFOvideo_server2026/08/25 22:01:52 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.02sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8965] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-3process has finished cleanly [pid 8962] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8966] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8963] ×2 + 1.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 1.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.67sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.68sINFOros2-5process has finished cleanly [pid 8964] ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.73sINFOforce_torque_sensor_broadcasterconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.05sINFOros2-2process has finished cleanly [pid 8961] ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 3.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 5.81sWARNros2_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 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228959 ms (missed cycles : 2).[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.01sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.02sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8965] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.45sINFOros2-3process has finished cleanly [pid 8962] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8966] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2-4process has finished cleanly [pid 8963] ×2 + 1.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 1.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.67sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.67sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.68sINFOros2-5process has finished cleanly [pid 8964] ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.73sINFOforce_torque_sensor_broadcasterconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.05sINFOros2-2process has finished cleanly [pid 8961] ×2 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 3.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 5.81sWARNros2_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 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 398 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8962] ×2 + 0.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_node[2026-08-25 22:01:57.470] [info] Controller state will be published at 10 Hz. ×2 + 0.10sINFOros2_control_node[2026-08-25 22:01:57.471] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.41sINFOros2-7process has finished cleanly [pid 8966] ×2 + 0.45sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.79sINFOros2-4process has finished cleanly [pid 8963] ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 0.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 0.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.87sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.88sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.88sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.88sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.88sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.88sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.88sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.88sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.89sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.89sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794562 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695318.58206558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695318.59229684 seconds ×3 + 1.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.22sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml + 1.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7kp2xbn6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o3x0iwn3 --params-file /tmp/launch_params_x38leaml [0m ×2 + 1.23sINFOros2-5process has finished cleanly [pid 8964] ×2 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOros2_control_nodeconfigure successful[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.29sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.29sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.60sINFOros2-2process has finished cleanly [pid 8961] ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 2.81sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 5.36sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 6.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_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 + 6.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 227 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 + 6.86sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100021 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100021 ms (missed cycles : 5).[0m ×2 + 7.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8961] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695319.19856763 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777715 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695320.25870895 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368496 ms (missed cycles : 4).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695320.87685180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695320.93700647 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695321.59544134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695321.61556268 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080165 ms (missed cycles : 5).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695322.32766008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695322.47834229 seconds ×3 + 3.76sWARNros2_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 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576452 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695323.17093468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695323.21105647 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695323.81848884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098056 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.464e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-25 22:02:03.955] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245588 ms (missed cycles : 2).[0m ×2 | ||||