117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.6s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass55 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 21288 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904122 ms (missed cycles : 5). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904122 ms (missed cycles : 5).[0m ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-25 22:06:30.229] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-25 22:06:30.229] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.714257 ms (missed cycles : 9). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.714257 ms (missed cycles : 9).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131218 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131218 ms (missed cycles : 5).[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683903 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683903 ms (missed cycles : 6).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787695593.83478212 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695594.45016885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.52sINFOros2_control_node[2026-08-25 22:06:34.623] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-25 22:06:34.623] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334561 ms (missed cycles : 6). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334561 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742583 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742583 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792369 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792369 ms (missed cycles : 2).[0m ×2 + 7.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×4 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324286 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324286 ms (missed cycles : 2).[0m ×2 + 7.89sINFOjoint_trajectory_controllerReceived new action goal ×3506 + 7.89sINFOjoint_trajectory_controllerAccepted new action goal ×3506 + 7.89sINFOros2_control_nodeReceived new action goal[0m ×7012 + 7.89sINFOros2_control_nodeAccepted new action goal[0m ×7012 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726746 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726746 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328477 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328477 ms (missed cycles : 2).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546587 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546587 ms (missed cycles : 3).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164435 ms (missed cycles : 3).[0m ×2 + 12.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.85sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.85sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496164 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496164 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128151 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128151 ms (missed cycles : 2).[0m ×2 + 14.29sWARNros2_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 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083416 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083416 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145009 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145009 ms (missed cycles : 2).[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046637 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046637 ms (missed cycles : 2).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833670 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833670 ms (missed cycles : 2).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274530 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274530 ms (missed cycles : 2).[0m ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005428 ms (missed cycles : 2). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005428 ms (missed cycles : 2).[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295086 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295086 ms (missed cycles : 2).[0m ×2 + 21.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625411 ms (missed cycles : 2). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625411 ms (missed cycles : 2).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213926 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213926 ms (missed cycles : 2).[0m ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509089 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509089 ms (missed cycles : 3).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996256 ms (missed cycles : 2). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996256 ms (missed cycles : 2).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962615 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962615 ms (missed cycles : 2).[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672753 ms (missed cycles : 2). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672753 ms (missed cycles : 2).[0m ×2 + 28.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×4 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076844 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076844 ms (missed cycles : 2).[0m ×2 + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631801 ms (missed cycles : 4). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.631801 ms (missed cycles : 4).[0m ×2 + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859745 ms (missed cycles : 7). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859745 ms (missed cycles : 7).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280725 ms (missed cycles : 2). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280725 ms (missed cycles : 2).[0m ×2 + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.974171 ms (missed cycles : 7). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.974171 ms (missed cycles : 7).[0m ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702354 ms (missed cycles : 4). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702354 ms (missed cycles : 4).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379214 ms (missed cycles : 3). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379214 ms (missed cycles : 3).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498438 ms (missed cycles : 4). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498438 ms (missed cycles : 4).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470276 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470276 ms (missed cycles : 2).[0m ×2 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752532 ms (missed cycles : 2). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752532 ms (missed cycles : 2).[0m ×2 + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033241 ms (missed cycles : 3). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033241 ms (missed cycles : 3).[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710246 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710246 ms (missed cycles : 2).[0m ×2 + 41.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057005 ms (missed cycles : 2). + 41.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057005 ms (missed cycles : 2).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938974 ms (missed cycles : 2). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938974 ms (missed cycles : 2).[0m ×2 + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138322 ms (missed cycles : 2). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138322 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940181 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940181 ms (missed cycles : 2).[0m ×2 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215929 ms (missed cycles : 2). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215929 ms (missed cycles : 2).[0m ×2 + 46.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733706 ms (missed cycles : 2). + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733706 ms (missed cycles : 2).[0m ×2 + 47.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382055 ms (missed cycles : 2). + 47.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382055 ms (missed cycles : 2).[0m ×2 + 48.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695638.25008702 seconds ×3 + 48.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213956 ms (missed cycles : 2). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213956 ms (missed cycles : 2).[0m ×2 + 48.71sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695638.88073897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.92sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 48.93sINFOros2_control_node[2026-08-25 22:07:19.039] [info] Received new action goal ×2 + 48.93sINFOros2_control_node[2026-08-25 22:07:19.039] [info] Accepted new action goal ×2 + 49.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 49.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746109 ms (missed cycles : 3). + 49.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746109 ms (missed cycles : 3).[0m ×2 + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826550 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826550 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.0s | 153 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_node[2026-08-25 22:05:37.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733889943 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733940705 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-25 22:05:37.902] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.956708908 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959390516 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959410504 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-25 22:05:38.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.40sINFOobjective_server_node[0;93m2026-08-25 22:05:38.363894728 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383810442 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383840175 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695540.16323876 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695540.84486413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.97sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720308 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720308 ms (missed cycles : 3).[0m ×2 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 7.15sINFOros2_control_node[2026-08-25 22:05:44.119] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-08-25 22:05:44.119] [info] Accepted new action goal ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834832 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834832 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887505 ms (missed cycles : 6). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887505 ms (missed cycles : 6).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210073 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210073 ms (missed cycles : 2).[0m ×2 + 10.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 10.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.33sINFOros2_control_node[2026-08-25 22:05:47.299] [info] Received new action goal ×2 + 10.33sINFOros2_control_node[2026-08-25 22:05:47.299] [info] Accepted new action goal ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561800 ms (missed cycles : 5). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561800 ms (missed cycles : 5).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189558 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189558 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737215 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737215 ms (missed cycles : 5).[0m ×2 + 13.31sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 13.31sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.38sINFOros2_control_node[2026-08-25 22:05:50.342] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-08-25 22:05:50.343] [info] Accepted new action goal ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.905324 ms (missed cycles : 7). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.905324 ms (missed cycles : 7).[0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985306 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985306 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412039 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412039 ms (missed cycles : 3).[0m ×2 + 16.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 16.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860358 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860358 ms (missed cycles : 3).[0m ×2 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126820 ms (missed cycles : 3). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126820 ms (missed cycles : 3).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283081 ms (missed cycles : 5). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283081 ms (missed cycles : 5).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208578 ms (missed cycles : 2). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208578 ms (missed cycles : 2).[0m ×2 + 21.33sWARNros2_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 ×4 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042206 ms (missed cycles : 3). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042206 ms (missed cycles : 3).[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859236 ms (missed cycles : 5). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859236 ms (missed cycles : 5).[0m ×2 + 23.10sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.10sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.10sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.10sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.10sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.03sINFOros2_control_node[2026-08-25 22:06:00.998] [info] Received new action goal ×2 + 24.03sINFOros2_control_node[2026-08-25 22:06:00.998] [info] Accepted new action goal ×2 + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454087 ms (missed cycles : 3). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454087 ms (missed cycles : 3).[0m ×2 + 25.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.21sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.363572 ms (missed cycles : 6). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.363572 ms (missed cycles : 6).[0m ×2 + 25.49sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 25.50sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.54sINFOros2_control_node[2026-08-25 22:06:02.503] [info] Received new action goal ×2 + 25.54sINFOros2_control_node[2026-08-25 22:06:02.503] [info] Accepted new action goal ×2 + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637684 ms (missed cycles : 3). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637684 ms (missed cycles : 3).[0m ×2 + 26.41sWARNros2_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 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550629 ms (missed cycles : 3). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550629 ms (missed cycles : 3).[0m ×2 + 27.66sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 27.66sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.68sINFOros2_control_node[2026-08-25 22:06:04.641] [info] Received new action goal ×2 + 27.68sINFOros2_control_node[2026-08-25 22:06:04.641] [info] Accepted new action goal ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339267 ms (missed cycles : 3). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339267 ms (missed cycles : 3).[0m ×2 + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051008 ms (missed cycles : 2). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051008 ms (missed cycles : 2).[0m ×2 + 30.71sINFOros2_control_node[2026-08-25 22:06:07.671] [info] Received new action goal ×2 + 30.71sINFOros2_control_node[2026-08-25 22:06:07.671] [info] Accepted new action goal ×2 + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789711 ms (missed cycles : 5). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.789711 ms (missed cycles : 5).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579480 ms (missed cycles : 2). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579480 ms (missed cycles : 2).[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778516 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778516 ms (missed cycles : 2).[0m ×2 + 33.30sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 33.31sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.35sINFOros2_control_node[2026-08-25 22:06:10.316] [info] Received new action goal ×2 + 33.35sINFOros2_control_node[2026-08-25 22:06:10.316] [info] Accepted new action goal ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099633 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099633 ms (missed cycles : 2).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608170 ms (missed cycles : 4). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608170 ms (missed cycles : 4).[0m ×2 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934537 ms (missed cycles : 5). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934537 ms (missed cycles : 5).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667792 ms (missed cycles : 2). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667792 ms (missed cycles : 2).[0m ×2 + 37.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682093 ms (missed cycles : 2). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682093 ms (missed cycles : 2).[0m ×2 + 39.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597518 ms (missed cycles : 4). + 39.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597518 ms (missed cycles : 4).[0m ×2 + 40.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976814 ms (missed cycles : 3). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976814 ms (missed cycles : 3).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215112 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215112 ms (missed cycles : 3).[0m ×2 + 41.85sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549840 ms (missed cycles : 4). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549840 ms (missed cycles : 4).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796474 ms (missed cycles : 2). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796474 ms (missed cycles : 2).[0m ×2 + 44.03sINFOros2_control_node[2026-08-25 22:06:20.990] [info] Received new action goal ×2 + 44.03sINFOros2_control_node[2026-08-25 22:06:20.990] [info] Accepted new action goal ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946948 ms (missed cycles : 5). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946948 ms (missed cycles : 5).[0m ×2 + 45.18sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787695582.14760208 seconds ×3 + 45.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.925491 ms (missed cycles : 6). + 45.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.925491 ms (missed cycles : 6).[0m ×2 + 45.98sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787695582.94463038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140228 ms (missed cycles : 5). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140228 ms (missed cycles : 5).[0m ×2 + 47.14sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 47.15sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.16sINFOros2_control_node[2026-08-25 22:06:24.129] [info] Received new action goal ×2 + 47.16sINFOros2_control_node[2026-08-25 22:06:24.129] [info] Accepted new action goal ×2 + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034575 ms (missed cycles : 3). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034575 ms (missed cycles : 3).[0m ×2 + 48.33sWARNros2_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 | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 28.8s | 114 warnings · 2847 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×439 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×439 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×878 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×878 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2).[0m ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695660.35576868 seconds ×3 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695660.98663902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.59sINFOobjective_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 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOobjective_server_nodeFound path in 5 iterations (0.00685481 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008941 ms (missed cycles : 4). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008941 ms (missed cycles : 4).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984813 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984813 ms (missed cycles : 2).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898714 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898714 ms (missed cycles : 2).[0m ×2 + 10.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×4 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743342 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743342 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297844 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297844 ms (missed cycles : 2).[0m ×2 + 13.19sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097638 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097638 ms (missed cycles : 2).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014370 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014370 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203464 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203464 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769448 ms (missed cycles : 2). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769448 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164849 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164849 ms (missed cycles : 2).[0m ×2 + 18.06sINFOobjective_server_nodeFound path in 4 iterations (0.0034981 s). ×2 + 18.14sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.18sINFOobjective_server_nodeFound path in 17 iterations (0.00777165 s). ×2 + 18.24sINFOobjective_server_nodePath shortcutter: [X__________________________________X__________________________________________X] ×2 + 18.27sINFOobjective_server_nodeFound path in 2 iterations (0.00568798 s). ×2 + 18.32sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.34sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 18.37sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.39sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 18.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.44sINFOobjective_server_nodeFound path in 12 iterations (0.00459655 s). ×2 + 18.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.52sINFOobjective_server_nodeFound path in 1 iterations (0.00372639 s). ×2 + 18.57sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] ×2 + 18.59sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 18.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.65sINFOobjective_server_nodeFound path in 4 iterations (0.00494217 s). ×2 + 18.73sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.76sINFOobjective_server_nodeFound path in 4 iterations (0.00286375 s). ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835996 ms (missed cycles : 3). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835996 ms (missed cycles : 3).[0m ×2 + 18.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 18.88sINFOobjective_server_nodeFound path in 1 iterations (0.00690958 s). ×2 + 18.95sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 18.97sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 19.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.04sINFOobjective_server_nodeFound path in 26 iterations (0.0114852 s). ×2 + 19.13sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_____________________X] ×2 + 19.15sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 19.23sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 19.25sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 19.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 19.39sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 19.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 19.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.73sINFOros2_control_node[2026-08-25 22:07:56.194] [info] Received new action goal ×2 + 19.73sINFOros2_control_node[2026-08-25 22:07:56.194] [info] Accepted new action goal ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.897293 ms (missed cycles : 6). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.897293 ms (missed cycles : 6).[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180669 ms (missed cycles : 5). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180669 ms (missed cycles : 5).[0m ×2 + 20.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×4 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753840 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753840 ms (missed cycles : 3).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295800 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295800 ms (missed cycles : 2).[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903289 ms (missed cycles : 3). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903289 ms (missed cycles : 3).[0m ×2 + 24.73sINFOros2_control_node[2026-08-25 22:08:01.198] [info] Received new action goal ×2 + 24.73sINFOros2_control_node[2026-08-25 22:08:01.198] [info] Accepted new action goal ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654269 ms (missed cycles : 6). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654269 ms (missed cycles : 6).[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411059 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411059 ms (missed cycles : 2).[0m ×2 + 26.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.27sINFOros2_control_node[2026-08-25 22:08:02.730] [info] Received new action goal ×2 + 26.27sINFOros2_control_node[2026-08-25 22:08:02.730] [info] Accepted new action goal ×2 + 26.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692203 ms (missed cycles : 5). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692203 ms (missed cycles : 5).[0m ×2 + 27.47sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.51sINFOros2_control_node[2026-08-25 22:08:03.972] [info] Received new action goal ×2 + 27.51sINFOros2_control_node[2026-08-25 22:08:03.972] [info] Accepted new action goal ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546184 ms (missed cycles : 4). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546184 ms (missed cycles : 4).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2).[0m ×2 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4).[0m ×2 + 32.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695689.13682079 seconds ×3 + 32.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695689.80016494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5).[0m ×2 + 33.55sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 33.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.56sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Received new action goal ×2 + 33.56sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Accepted new action goal ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 14992 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2472 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2472 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4944 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4944 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940181 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940181 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215929 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215929 ms (missed cycles : 2).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733706 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733706 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382055 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382055 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695638.25008702 seconds ×3 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213956 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213956 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695638.88073897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.68sINFOros2_control_node[2026-08-25 22:07:19.039] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-08-25 22:07:19.039] [info] Accepted new action goal ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746109 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746109 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.98sINFOobjective_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 + 6.00sINFOobjective_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 + 6.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826550 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826550 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820648 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820648 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828284 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828284 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906116 ms (missed cycles : 5). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906116 ms (missed cycles : 5).[0m ×2 + 10.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704567 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704567 ms (missed cycles : 2).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037740 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037740 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759243 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759243 ms (missed cycles : 2).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721074 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721074 ms (missed cycles : 2).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775940 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775940 ms (missed cycles : 2).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711294 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711294 ms (missed cycles : 2).[0m ×2 + 17.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×4 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454895 ms (missed cycles : 3). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454895 ms (missed cycles : 3).[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991934 ms (missed cycles : 2). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991934 ms (missed cycles : 2).[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813075 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813075 ms (missed cycles : 2).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040511 ms (missed cycles : 2). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040511 ms (missed cycles : 2).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631195 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631195 ms (missed cycles : 2).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7).[0m ×2 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2).[0m ×2 + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3).[0m ×2 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2).[0m ×2 + 26.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695660.35576868 seconds ×3 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2).[0m ×2 + 26.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695660.98663902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.81sINFOobjective_server_nodeFound path in 5 iterations (0.00685481 s). ×2 + 26.88sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.89sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Received new action goal ×2 + 26.90sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Accepted new action goal ×2 + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.8s | 3 errors · 71 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 1.83sINFOobjective_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 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 1.85sERRORobjective_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: 1787695466.95252275 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 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 ×8 + 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 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033410 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033410 ms (missed cycles : 4).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428104 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428104 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208592 ms (missed cycles : 4). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208592 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622586 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622586 ms (missed cycles : 3).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940033 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940033 ms (missed cycles : 2).[0m ×2 + 10.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786644 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786644 ms (missed cycles : 2).[0m ×2 + 12.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.06sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.34sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 12.34sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.35sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 12.36sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.42sINFOobjective_server_nodeFound path in 1 iterations (0.00277347 s). ×2 + 12.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 12.59sINFOros2_control_node[2026-08-25 22:04:37.695] [info] Received new action goal ×2 + 12.59sINFOros2_control_node[2026-08-25 22:04:37.695] [info] Accepted new action goal ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985735 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985735 ms (missed cycles : 2).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749396 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749396 ms (missed cycles : 3).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841266 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841266 ms (missed cycles : 2).[0m ×2 + 15.07sINFOros2_control_node[2026-08-25 22:04:40.168] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-08-25 22:04:40.168] [info] Accepted new action goal ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 16.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 16.99sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 16.99sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 18.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 18.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 19.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 19.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.84sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 19.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 19.86sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 19.86sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 59 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811335 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (1.81e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 1 iterations (0.00415906 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOros2_control_node[2026-08-25 22:05:14.134] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-08-25 22:05:14.134] [info] Accepted new action goal ×2 + 0.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×4 + 0.78sINFOros2_control_node[2026-08-25 22:05:14.566] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:05:14.566] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032469 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032469 ms (missed cycles : 2).[0m ×2 + 2.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639559 ms (missed cycles : 3). + 3.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639559 ms (missed cycles : 3).[0m ×2 + 3.16sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.16sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sERRORobjective_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: 1787695516.96155643 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787695517.76160789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.15sINFOros2_control_node[2026-08-25 22:05:17.935] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-25 22:05:17.935] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773993 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773993 ms (missed cycles : 3).[0m ×2 + 5.03sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020503 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020503 ms (missed cycles : 2).[0m ×2 + 5.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sINFOros2_control_node[2026-08-25 22:05:20.409] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-08-25 22:05:20.409] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400184 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400184 ms (missed cycles : 3).[0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628231 ms (missed cycles : 4). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628231 ms (missed cycles : 4).[0m ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760848 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760848 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935753 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935753 ms (missed cycles : 3).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682142 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682142 ms (missed cycles : 3).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085809 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085809 ms (missed cycles : 4).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2).[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695528.98151207 seconds ×3 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2).[0m ×2 + 15.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695529.63774610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695529.70789981 seconds ×3 + 16.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 16.51sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695530.29763269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.63sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 16.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.65sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Received new action goal ×2 + 16.65sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Accepted new action goal ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3).[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 60 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215112 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215112 ms (missed cycles : 3).[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549840 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549840 ms (missed cycles : 4).[0m ×2 + 1.56sINFOobjective_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 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.56sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.56sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796474 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796474 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.44sINFOros2_control_node[2026-08-25 22:06:20.990] [info] Received new action goal ×2 + 2.44sINFOros2_control_node[2026-08-25 22:06:20.990] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946948 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946948 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787695582.14760208 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.925491 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.925491 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787695582.94463038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140228 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140228 ms (missed cycles : 5).[0m ×2 + 5.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.56sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.58sINFOros2_control_node[2026-08-25 22:06:24.129] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-08-25 22:06:24.129] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034575 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034575 ms (missed cycles : 3).[0m ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232051 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232051 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174979 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174979 ms (missed cycles : 2).[0m ×2 + 9.28sINFOobjective_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 + 9.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082991 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082991 ms (missed cycles : 4).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894571 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894571 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904122 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904122 ms (missed cycles : 5).[0m ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.67sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.68sINFOros2_control_node[2026-08-25 22:06:30.229] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-08-25 22:06:30.229] [info] Accepted new action goal ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.714257 ms (missed cycles : 9). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.714257 ms (missed cycles : 9).[0m ×2 + 13.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131218 ms (missed cycles : 5). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131218 ms (missed cycles : 5).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683903 ms (missed cycles : 6). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683903 ms (missed cycles : 6).[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787695593.83478212 seconds ×3 + 15.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695594.45016885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.07sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 16.07sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.08sINFOros2_control_node[2026-08-25 22:06:34.623] [info] Received new action goal ×2 + 16.08sINFOros2_control_node[2026-08-25 22:06:34.623] [info] Accepted new action goal ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334561 ms (missed cycles : 6). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334561 ms (missed cycles : 6).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742583 ms (missed cycles : 4). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742583 ms (missed cycles : 4).[0m ×2 + 17.34sINFOobjective_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 + 17.35sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792369 ms (missed cycles : 2). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792369 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 57 errors · 42 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Got request to cancel active goal. ×2 + 0.51sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Canceling active goal... ×2 + 0.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787695744.94418383 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695745.53826714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695746.78840232 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695747.39373970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.97sINFOobjective_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 + 2.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695747.39618111 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695748.13800287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695748.13847446 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695748.73686934 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695749.59698749 seconds ×3 + 5.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945777 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945777 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643216 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643216 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821379 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821379 ms (missed cycles : 2).[0m ×2 + 7.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688772 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688772 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753875 ms (missed cycles : 5). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.753875 ms (missed cycles : 5).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932201 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.932201 ms (missed cycles : 5).[0m ×2 + 11.14sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.15sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_video_auth_proxy-23process has died [pid 8871, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.16sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.17sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORweb_bridge_auth_proxy-22process has died [pid 8870, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.17sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.21sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.22sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.23sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.24sINFOvideo_server-21process has finished cleanly [pid 8869] ×2 + 11.24sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.25sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.26sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.27sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.28sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.30sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.31sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.32sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.33sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.35sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.37sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.37sINFOcontroller_managerShutdown request received.... + 11.37sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.37sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.37sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.37sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.37sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.37sINFOvideo_server2026/08/25 22:09:15 INF shutting down gracefully ×2 + 11.37sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.37sINFOvideo_server2026/08/25 22:09:15 INF [WebRTC] closing ×2 + 11.37sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.37sINFOvideo_server2026/08/25 22:09:15 INF [RTSP] closing ×2 + 11.37sINFOvideo_server2026/08/25 22:09:15 INF waiting for running hooks ×2 + 11.37sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.37sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.37sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.37sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.37sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.37sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOcontroller_managerShutting down the controller manager. + 11.37sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.38sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.38sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.38sERRORmove_groupStack trace (most recent call last) in thread 9087: ×2 + 11.38sERRORmove_group-9process has died [pid 8794, 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_wx5sy4rn --params-file /tmp/launch_params_te5ryw4_ --params-file /tmp/launch_params_b_353y50 --params-file /tmp/launch_params_w6cvcsd9 --params-file /tmp/launch_params_gx3pgsnv --params-file /tmp/launch_params_rkn03j_y']. ×2 + 11.38sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.38sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4c71aa63, in __clone ×2 + 11.38sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4c68daa3, in ×2 + 11.38sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4c91fdb3, in ×2 + 11.38sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f8f4d090a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.38sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f4ccb1620, in rclcpp::Rate::sleep() ×2 + 11.38sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f4cbf3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.38sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f4cbb5087, in ×2 + 11.38sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4c8ee390, in __cxa_throw ×2 + 11.38sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4c8d8a54, in std::terminate() ×2 + 11.38sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4c8ee0d9, in ×2 + 11.38sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4c8d8ff4, in ×2 + 11.38sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4c6198fe, in abort ×2 + 11.38sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4c63627d, in raise ×2 + 11.38sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4c68fb2c, in pthread_kill ×2 + 11.38sERRORmove_groupAborted (Signal sent by tkill() 8794 0) ×2 + 11.38sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.38sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.38sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.38sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.38sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.38sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.38sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.38sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.58sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.58sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.58sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.27sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8868] ×2 + 12.27sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.34sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8798] ×2 + 12.36sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8797] ×2 + 12.36sINFOui_teleop_bridge-18process has finished cleanly [pid 8803] ×2 + 12.36sINFOcomponent_container_mt-16process has finished cleanly [pid 8801] ×2 + 12.37sINFOexecute_objective_bridge-17process has finished cleanly [pid 8802] ×2 + 12.40sINFOwaypoint_manager_node-11process has finished cleanly [pid 8796] ×2 + 12.43sINFOparameter_manager_node-10process has finished cleanly [pid 8795] ×2 + 12.43sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.48sINFOcomponent_container_mt-15process has finished cleanly [pid 8800] ×2 + 12.49sINFOobjective_server_node[0;m[2026-08-25 22:09:16.918] [moveit_pro_license] [critical] ×2 + 12.49sINFOobjective_server_node************************************************* ×4 + 12.49sINFOobjective_server_node* MoveIt Pro License ×2 + 12.49sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 13.11sINFOobjective_server_node_main-14process has finished cleanly [pid 8799] ×2 + 13.11sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.47sINFOweb_bridge-19process has finished cleanly [pid 8804] ×2 + 13.47sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.01sINFOros2_control_node-1process has finished cleanly [pid 8757] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.17sERRORobjective_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: 1787695732.43972182 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 3.13sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984760 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984760 ms (missed cycles : 3).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049196 ms (missed cycles : 4). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049196 ms (missed cycles : 4).[0m ×2 + 7.68sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.68sINFOros2_control_node[2026-08-25 22:08:57.953] [info] Received new action goal ×2 + 7.68sINFOros2_control_node[2026-08-25 22:08:57.953] [info] Accepted new action goal ×2 + 7.69sINFOros2_control_node[2026-08-25 22:08:57.953] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024645 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024645 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.059074 ms (missed cycles : 8). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.059074 ms (missed cycles : 8).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517587 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517587 ms (missed cycles : 3).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2).[0m ×2 + 14.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Got request to cancel active goal. ×2 + 14.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Canceling active goal... ×2 + 14.67sERRORobjective_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: 1787695744.94418383 seconds ×3 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2).[0m ×2 + 15.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695745.53826714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.19sWARNros2_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 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4).[0m ×2 + 16.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695746.78840232 seconds ×3 + 17.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695747.39373970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.12sINFOobjective_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 + 17.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695747.39618111 seconds ×3 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 56 warnings · 332 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.87sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151512 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151512 ms (missed cycles : 4).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.36sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.38sINFOros2_control_node[2026-08-25 22:04:19.144] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-08-25 22:04:19.144] [info] Accepted new action goal ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494880 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494880 ms (missed cycles : 4).[0m ×2 + 7.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×4 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483522 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483522 ms (missed cycles : 3).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978263 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978263 ms (missed cycles : 2).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529070 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529070 ms (missed cycles : 3).[0m ×2 + 10.10sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 10.11sINFOros2_control_node[2026-08-25 22:04:22.870] [info] Received new action goal ×2 + 10.11sINFOros2_control_node[2026-08-25 22:04:22.870] [info] Accepted new action goal ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 13.43sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 13.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.45sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 13.45sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 14.18sINFOobjective_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 + 14.18sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 14.18sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 14.19sERRORobjective_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: 1787695466.95252275 seconds ×3 + 14.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 14.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 15.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.75sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 15.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.76sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 15.76sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 59 warnings · 170 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787695502.74481583 seconds ×3 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044181 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044181 ms (missed cycles : 2).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069424 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069424 ms (missed cycles : 2).[0m ×2 + 1.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000388 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000388 ms (missed cycles : 2).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756703 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756703 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787695506.56820297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-25 22:05:06.762] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:05:06.762] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265395 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265395 ms (missed cycles : 2).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776328 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776328 ms (missed cycles : 3).[0m ×2 + 6.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×4 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775948 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775948 ms (missed cycles : 3).[0m ×2 + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.87sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062254 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062254 ms (missed cycles : 2).[0m ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 1 iterations (0.00224917 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 1 iterations (0.00362965 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.76sINFOros2_control_node[2026-08-25 22:05:11.205] [info] Received new action goal ×2 + 8.76sINFOros2_control_node[2026-08-25 22:05:11.205] [info] Accepted new action goal ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653604 ms (missed cycles : 4). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653604 ms (missed cycles : 4).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157166 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157166 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811335 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811335 ms (missed cycles : 2).[0m ×2 + 11.44sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.45sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.45sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.46sINFOobjective_server_nodeFound path in 0 iterations (1.81e-07 s). ×2 + 11.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.52sINFOobjective_server_nodeFound path in 1 iterations (0.00415906 s). ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.69sINFOros2_control_node[2026-08-25 22:05:14.134] [info] Received new action goal ×2 + 11.69sINFOros2_control_node[2026-08-25 22:05:14.134] [info] Accepted new action goal ×2 + 12.12sINFOros2_control_node[2026-08-25 22:05:14.566] [info] Received new action goal ×2 + 12.12sINFOros2_control_node[2026-08-25 22:05:14.566] [info] Accepted new action goal ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032469 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032469 ms (missed cycles : 2).[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639559 ms (missed cycles : 3). + 14.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639559 ms (missed cycles : 3).[0m ×2 + 14.49sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.49sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.49sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.52sERRORobjective_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: 1787695516.96155643 seconds ×3 + 15.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787695517.76160789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 15.49sINFOros2_control_node[2026-08-25 22:05:17.935] [info] Received new action goal ×2 + 15.49sINFOros2_control_node[2026-08-25 22:05:17.935] [info] Accepted new action goal ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773993 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773993 ms (missed cycles : 3).[0m ×2 + 16.37sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020503 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020503 ms (missed cycles : 2).[0m ×2 + 16.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815483 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815483 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670152 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670152 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986109 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986109 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787695721.46516132 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535144 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535144 ms (missed cycles : 6).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787695722.06946611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-08-25 22:08:42.193] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-25 22:08:42.193] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502825 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502825 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052598 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052598 ms (missed cycles : 5).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043319 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043319 ms (missed cycles : 4).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190184 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190184 ms (missed cycles : 4).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369037 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369037 ms (missed cycles : 3).[0m ×2 + 9.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612998 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612998 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 14.81sINFOobjective_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 + 14.81sERRORobjective_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: 1787695732.43972182 seconds ×3 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 15.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 15.77sWARNros2_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 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 16.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 16.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 16.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.00sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 17.00sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 17.00sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 17.00sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 107 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108457 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108457 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676375 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676375 ms (missed cycles : 2).[0m ×2 + 8.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700189 ms (missed cycles : 5). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.700189 ms (missed cycles : 5).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390321 ms (missed cycles : 4). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390321 ms (missed cycles : 4).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108477 ms (missed cycles : 4). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108477 ms (missed cycles : 4).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073446 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073446 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217689 ms (missed cycles : 5). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217689 ms (missed cycles : 5).[0m ×2 + 13.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 14.45sERRORobjective_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: 1787695710.94543862 seconds ×3 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145535 ms (missed cycles : 5). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145535 ms (missed cycles : 5).[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787695711.56674099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 15.36sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.38sINFOros2_control_node[2026-08-25 22:08:31.868] [info] Received new action goal ×2 + 15.38sINFOros2_control_node[2026-08-25 22:08:31.868] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493748 ms (missed cycles : 5). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493748 ms (missed cycles : 5).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668869 ms (missed cycles : 3). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668869 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812767 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812767 ms (missed cycles : 2).[0m ×2 + 7.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 1 iterations (0.0028322 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 1 iterations (0.00361429 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.38sINFOros2_control_node[2026-08-25 22:05:00.029] [info] Received new action goal ×2 + 8.38sINFOros2_control_node[2026-08-25 22:05:00.029] [info] Accepted new action goal ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426326 ms (missed cycles : 6). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426326 ms (missed cycles : 6).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.071655 ms (missed cycles : 7). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.071655 ms (missed cycles : 7).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644725 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644725 ms (missed cycles : 4).[0m ×2 + 10.80sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.07sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.07sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.08sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787695502.74481583 seconds ×3 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044181 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044181 ms (missed cycles : 2).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069424 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069424 ms (missed cycles : 2).[0m ×2 + 12.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000388 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000388 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756703 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756703 ms (missed cycles : 3).[0m ×2 + 14.92sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787695506.56820297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 15.12sINFOros2_control_node[2026-08-25 22:05:06.762] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-08-25 22:05:06.762] [info] Accepted new action goal ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265395 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265395 ms (missed cycles : 2).[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776328 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776328 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2).[0m ×2 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695689.13682079 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695689.80016494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205715 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205715 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940819 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940819 ms (missed cycles : 2).[0m ×2 + 8.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.54sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 1 iterations (0.00266702 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.04sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.06sINFOros2_control_node[2026-08-25 22:08:14.797] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-08-25 22:08:14.797] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507449 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507449 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 11.53sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 11.53sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 13.08sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.39sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 13.39sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 14.19sINFOobjective_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 + 14.20sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 14.20sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 14.21sERRORobjective_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: 1787695699.95458484 seconds ×3 + 14.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 15.05sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 15.07sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 16.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 2.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2).[0m ×2 + 7.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×4 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.31sINFOros2_control_node[2026-08-25 22:04:48.307] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-08-25 22:04:48.307] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967561 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967561 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877372 ms (missed cycles : 5). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877372 ms (missed cycles : 5).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991337 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991337 ms (missed cycles : 3).[0m ×2 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 9.65sINFOros2_control_node[2026-08-25 22:04:50.645] [info] Received new action goal ×2 + 9.65sINFOros2_control_node[2026-08-25 22:04:50.645] [info] Accepted new action goal ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 11.98sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 12.00sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 12.00sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 14.04sINFOobjective_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 + 14.05sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 14.05sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 14.06sERRORobjective_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: 1787695495.05783629 seconds ×3 + 14.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.89sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390321 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390321 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108477 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108477 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073446 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073446 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217689 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217689 ms (missed cycles : 5).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_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 `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787695710.94543862 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145535 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145535 ms (missed cycles : 5).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787695711.56674099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.86sINFOros2_control_node[2026-08-25 22:08:31.868] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-25 22:08:31.868] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493748 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493748 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668869 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668869 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155473 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155473 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475195 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475195 ms (missed cycles : 2).[0m ×2 + 8.88sINFOros2_control_node[2026-08-25 22:08:35.881] [info] Received new action goal ×2 + 8.88sINFOros2_control_node[2026-08-25 22:08:35.881] [info] Accepted new action goal ×2 + 9.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497295 ms (missed cycles : 4). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.497295 ms (missed cycles : 4).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815483 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815483 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670152 ms (missed cycles : 5). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670152 ms (missed cycles : 5).[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986109 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986109 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787695721.46516132 seconds ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535144 ms (missed cycles : 6). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535144 ms (missed cycles : 6).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787695722.06946611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 15.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.19sINFOros2_control_node[2026-08-25 22:08:42.193] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-08-25 22:08:42.193] [info] Accepted new action goal ×2 + 15.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502825 ms (missed cycles : 4). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502825 ms (missed cycles : 4).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052598 ms (missed cycles : 5). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052598 ms (missed cycles : 5).[0m ×2 + 17.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.7s | 42 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695529.63774610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×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 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695529.70789981 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695530.29763269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695532.43776011 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2).[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.001808 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.001808 ms (missed cycles : 7).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787695534.03011060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921135 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921135 ms (missed cycles : 3).[0m ×2 + 5.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×4 + 5.90sINFOobjective_server_node[2026-08-25 22:05:35.536] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085740 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085740 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_node[0;93m2026-08-25 22:05:36.242258582 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.61sINFOobjective_server_node[0;93m2026-08-25 22:05:36.242289518 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_node[2026-08-25 22:05:37.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.10sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733889943 [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 + 8.10sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733940705 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.27sINFOobjective_server_node[2026-08-25 22:05:37.902] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.32sINFOobjective_server_node[0;93m2026-08-25 22:05:37.956708908 [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 + 8.32sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959390516 [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 + 8.32sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959410504 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3).[0m ×2 + 8.39sINFOobjective_server_node[2026-08-25 22:05:38.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.73sINFOobjective_server_node[0;93m2026-08-25 22:05:38.363894728 [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 + 8.75sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383810442 [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 + 8.75sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383840175 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3).[0m ×2 + 10.53sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695540.16323876 seconds ×3 + 11.21sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695540.84486413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.29sINFOobjective_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 + 11.30sINFOobjective_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 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3).[0m ×2 + 11.57sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.63sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Received new action goal ×2 + 11.63sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Accepted new action goal ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 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 6.085809 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085809 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695528.98151207 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695529.63774610 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 + 3.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695529.70789981 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695530.29763269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695532.43776011 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.001808 ms (missed cycles : 7). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.001808 ms (missed cycles : 7).[0m ×2 + 7.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787695534.03011060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921135 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921135 ms (missed cycles : 3).[0m ×2 + 9.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 9.37sINFOobjective_server_node[2026-08-25 22:05:35.536] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085740 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085740 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_node[0;93m2026-08-25 22:05:36.242258582 [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 + 10.07sINFOobjective_server_node[0;93m2026-08-25 22:05:36.242289518 [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 | 1.8s | 3 errors · 30 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517587 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517587 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_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 + 3.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Got request to cancel active goal. ×2 + 3.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787695744.94418383 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695745.53826714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695746.78840232 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695747.39373970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.12sINFOobjective_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 + 6.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695747.39618111 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2).[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695748.13800287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695748.13847446 seconds ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2).[0m ×2 + 7.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695748.73686934 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695749.59698749 seconds ×3 + 8.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945777 ms (missed cycles : 4). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 33 warnings · 565 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.30sINFOobjective_server_node[2026-08-25 22:04:08.314] [moveit_pro_license] [info] ×2 + 0.31sINFOobjective_server_node************************************************* ×4 + 0.31sINFOobjective_server_node* MoveIt Pro License ×2 + 0.31sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.41sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.43sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.43sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.49sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.49sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.78sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.78sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.78sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.78sWARNros2_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 + 0.78sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.78sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.78sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.79sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.79sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.79sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.79sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.79sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.79sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.79sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.79sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.79sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.99sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.99sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.99sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.99sINFOcomponent_container_mt[2026-08-25 22:04:09.003] [moveit_pro_license] [info] ×2 + 0.99sINFOcomponent_container_mt************************************************* ×4 + 0.99sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.99sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.14sINFOros2_control_node[2026-08-25 22:04:09.152] [info] Controller state will be published at 10 Hz. ×2 + 1.14sINFOros2_control_node[2026-08-25 22:04:09.153] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.28sINFOros2_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 + 1.28sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.28sWARNros2_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 + 1.44sINFOros2-7process has finished cleanly [pid 8763] ×2 + 1.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.57sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.57sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.59sINFOros2_control_node[2026-08-25 22:04:09.600] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.59sINFOros2_control_node[2026-08-25 22:04:09.600] [info] Controller state will be published at 50 Hz. ×2 + 1.60sINFOros2_control_node[2026-08-25 22:04:09.608] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3).[0m ×2 + 1.81sWARNobjective_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 + 1.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.96sINFOros2-6process has finished cleanly [pid 8762] ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.26sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.26sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.26sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 2.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 2.31sINFOros2-4process has finished cleanly [pid 8760] ×2 + 2.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.34sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.35sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 2.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 2.68sINFOros2-5process has finished cleanly [pid 8761] ×2 + 2.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.73sINFOforce_torque_sensor_broadcasterconfigure successful + 2.73sINFOros2_control_nodeconfigure successful[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.05sINFOros2-2process has finished cleanly [pid 8758] ×2 + 3.05sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.05sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.05sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.05sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.05sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 3.05sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 3.06sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.10sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.10sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.10sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.10sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.10sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 3.11sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.11sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.42sINFOros2-3process has finished cleanly [pid 8759] ×2 + 3.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.44sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.44sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.50sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 3.50sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 3.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.55sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.57sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 3.57sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.89sINFOros2-8process has finished cleanly [pid 8764] ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 4.75sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 6.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 6.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 7.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 7.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 25 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 2.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.30sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 2.30sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 3.02sINFOobjective_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 + 3.02sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1787695466.95252275 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 24 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_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 + 1.54sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Got request to cancel active goal. ×2 + 1.54sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Canceling active goal... ×2 + 1.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787695744.94418383 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695745.53826714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695746.78840232 seconds ×3 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695747.39373970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.99sINFOobjective_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 + 3.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695747.39618111 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695748.13800287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695748.13847446 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695748.73686934 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695749.59698749 seconds ×3 + 6.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945777 ms (missed cycles : 4). | ||||
| ✓ 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 6.085809 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085809 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695528.98151207 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695529.63774610 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 + 3.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695529.70789981 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695530.29763269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695532.43776011 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841266 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841266 ms (missed cycles : 2).[0m ×2 + 0.25sINFOros2_control_node[2026-08-25 22:04:40.168] [info] Received new action goal ×2 + 0.25sINFOros2_control_node[2026-08-25 22:04:40.168] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.17sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 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 + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.04sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1787695732.43972182 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 4.21sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 30 warnings · 454 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-25 22:04:09.608] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3).[0m ×2 + 0.30sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 8762] ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.76sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.80sINFOros2-4process has finished cleanly [pid 8760] ×2 + 0.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.17sINFOros2-5process has finished cleanly [pid 8761] ×2 + 1.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.22sINFOforce_torque_sensor_broadcasterconfigure successful + 1.22sINFOros2_control_nodeconfigure successful[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.54sINFOros2-2process has finished cleanly [pid 8758] ×2 + 1.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.54sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.54sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.55sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.59sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.59sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.59sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 1.60sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sINFOros2-3process has finished cleanly [pid 8759] ×2 + 1.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.99sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 2.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sINFOros2-8process has finished cleanly [pid 8764] ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 6.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.11sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-08-25 22:04:16.633] [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 5.132806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1787695732.43972182 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 4.21sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.51sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Got request to cancel active goal. ×2 + 0.51sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Canceling active goal... ×2 + 0.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787695744.94418383 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695745.53826714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695746.78840232 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695747.39373970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.97sINFOobjective_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 + 2.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695747.39618111 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787695748.13800287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787695748.13847446 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691106 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787695748.73686934 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787695749.59698749 seconds ×3 + 5.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945777 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945777 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643216 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643216 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_node[2026-08-25 22:05:37.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733889943 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733940705 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-25 22:05:37.902] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.956708908 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959390516 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959410504 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-25 22:05:38.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.40sINFOobjective_server_node[0;93m2026-08-25 22:05:38.363894728 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383810442 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383840175 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695540.16323876 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695540.84486413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.97sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720308 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720308 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 2.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 2.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 2.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811335 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811335 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (1.81e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 1 iterations (0.00415906 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.35sINFOros2_control_node[2026-08-25 22:05:14.134] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-08-25 22:05:14.134] [info] Accepted new action goal ×2 + 0.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:05:14.566] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:05:14.566] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903938 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032469 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032469 ms (missed cycles : 2).[0m ×2 + 2.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639559 ms (missed cycles : 3). + 3.15sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639559 ms (missed cycles : 3).[0m ×2 + 3.16sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.16sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sERRORobjective_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: 1787695516.96155643 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787695517.76160789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.15sINFOros2_control_node[2026-08-25 22:05:17.935] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-25 22:05:17.935] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773993 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773993 ms (missed cycles : 3).[0m ×2 + 5.03sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020503 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020503 ms (missed cycles : 2).[0m ×2 + 5.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | 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 6.085809 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085809 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739054 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665918 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787695528.98151207 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837119 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695529.63774610 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 + 3.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695529.70789981 seconds ×3 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695530.29763269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787695529.63774610 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×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 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787695529.70789981 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787695530.29763269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-25 22:05:30.431] [info] Accepted new action goal ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285307 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256542 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787695532.43776011 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328071 ms (missed cycles : 2).[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.001808 ms (missed cycles : 7). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.001808 ms (missed cycles : 7).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787695534.03011060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921135 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921135 ms (missed cycles : 3).[0m ×2 + 5.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sINFOobjective_server_node[2026-08-25 22:05:35.536] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085740 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085740 ms (missed cycles : 2).[0m ×2 + 6.60sINFOobjective_server_node[0;93m2026-08-25 22:05:36.242258582 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.61sINFOobjective_server_node[0;93m2026-08-25 22:05:36.242289518 [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 | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_node[2026-08-25 22:05:37.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733889943 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733940705 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-25 22:05:37.902] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.956708908 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959390516 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959410504 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-25 22:05:38.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.40sINFOobjective_server_node[0;93m2026-08-25 22:05:38.363894728 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383810442 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383840175 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695540.16323876 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695540.84486413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.97sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2703 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×439 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×439 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×878 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×878 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2).[0m ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695660.35576868 seconds ×3 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695660.98663902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.59sINFOobjective_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 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOobjective_server_nodeFound path in 5 iterations (0.00685481 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2).[0m ×2 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695689.13682079 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695689.80016494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815483 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815483 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670152 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670152 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986109 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986109 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787695721.46516132 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535144 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.535144 ms (missed cycles : 6).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787695722.06946611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-08-25 22:08:42.193] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-25 22:08:42.193] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502825 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502825 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052598 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052598 ms (missed cycles : 5).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1787695732.43972182 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 4.21sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1787695732.43972182 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 4.21sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 2.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.30sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 2.30sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 3.02sINFOobjective_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 + 3.02sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1787695466.95252275 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.872861 ms (missed cycles : 5).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 2.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.30sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 2.30sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 3.02sINFOobjective_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 + 3.02sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1787695466.95252275 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 1.83sINFOobjective_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 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 1.85sERRORobjective_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: 1787695466.95252275 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 1.83sINFOobjective_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 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 1.85sERRORobjective_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: 1787695466.95252275 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 1.83sINFOobjective_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 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 1.85sERRORobjective_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: 1787695466.95252275 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221135 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839058 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-08-25 22:04:26.211] [info] Accepted new action goal ×2 + 1.83sINFOobjective_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 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Got request to cancel active goal. ×2 + 1.84sINFOros2_control_node[2026-08-25 22:04:26.937] [info] Canceling active goal... ×2 + 1.85sERRORobjective_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: 1787695466.95252275 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495061 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787695467.59205770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787695467.70217729 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403546 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787695468.32550597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-25 22:04:28.519] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141050 ms (missed cycles : 2).[0m ×2 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673485 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 2.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074988 ms (missed cycles : 3).[0m ×2 + 0.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-08-25 22:04:42.092] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.122095 ms (missed cycles : 5).[0m ×2 + 2.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814266 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787695483.48191786 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787695484.11947799 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787695484.19959760 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984889 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787695484.84305215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (1.1547e-05 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-25 22:04:44.958] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216419 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868087 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056312 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568419 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Received new action goal ×2 + 1.35sINFOros2_control_node[2026-08-25 22:04:52.996] [info] Accepted new action goal ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600673 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.854525 ms (missed cycles : 6).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-08-25 22:04:55.043] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1787695495.05783629 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787695495.69301939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-25 22:04:55.886] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687996 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210910 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028749 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_node[2026-08-25 22:05:37.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733889943 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733940705 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-25 22:05:37.902] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.956708908 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959390516 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959410504 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-25 22:05:38.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.40sINFOobjective_server_node[0;93m2026-08-25 22:05:38.363894728 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383810442 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383840175 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695540.16323876 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695540.84486413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.97sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_node[2026-08-25 22:05:37.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733889943 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733940705 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-25 22:05:37.902] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.956708908 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959390516 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959410504 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-25 22:05:38.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.40sINFOobjective_server_node[0;93m2026-08-25 22:05:38.363894728 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383810442 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383840175 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695540.16323876 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695540.84486413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.97sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258189 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_node[2026-08-25 22:05:37.246] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733889943 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-25 22:05:37.733940705 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.94sINFOobjective_server_node[2026-08-25 22:05:37.902] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.956708908 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959390516 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.99sINFOobjective_server_node[0;93m2026-08-25 22:05:37.959410504 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762666 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-25 22:05:38.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.40sINFOobjective_server_node[0;93m2026-08-25 22:05:38.363894728 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383810442 [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 + 1.42sINFOobjective_server_node[0;93m2026-08-25 22:05:38.383840175 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937384 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002699 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787695540.16323876 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787695540.84486413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.97sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547780 ms (missed cycles : 3).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 22:05:41.262] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498200 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904122 ms (missed cycles : 5). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904122 ms (missed cycles : 5).[0m ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-25 22:06:30.229] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-25 22:06:30.229] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.714257 ms (missed cycles : 9). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.714257 ms (missed cycles : 9).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131218 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131218 ms (missed cycles : 5).[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683903 ms (missed cycles : 6). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683903 ms (missed cycles : 6).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787695593.83478212 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787695594.45016885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.52sINFOros2_control_node[2026-08-25 22:06:34.623] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-25 22:06:34.623] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334561 ms (missed cycles : 6). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.334561 ms (missed cycles : 6).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742583 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742583 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792369 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792369 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 · 2703 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×439 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×439 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×878 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×878 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.598515 ms (missed cycles : 7).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194313 ms (missed cycles : 2).[0m ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375586 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813315 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787695660.35576868 seconds ×3 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530655 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787695660.98663902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.59sINFOobjective_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 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOobjective_server_nodeFound path in 5 iterations (0.00685481 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-25 22:07:41.252] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920173 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419127 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050412 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916491 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876931 ms (missed cycles : 2).[0m ×2 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027131 ms (missed cycles : 4).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787695689.13682079 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787695689.80016494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.295062 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.28sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-25 22:08:10.024] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994343 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245581 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457331 ms (missed cycles : 3).[0m ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-25 22:08:17.269] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169323 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083299 ms (missed cycles : 2).[0m ×2 + 2.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.33sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-25 22:08:19.133] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020560 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-25 22:08:19.940] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1787695699.95458484 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_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 + 3.77sWARNros2_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 + 4.14sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787695700.63474894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261827 ms (missed cycles : 2).[0m ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-25 22:08:20.812] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.317671 ms (missed cycles : 5).[0m ×2 + 6.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608695 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390321 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390321 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108477 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108477 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073446 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073446 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217689 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217689 ms (missed cycles : 5).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_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 `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787695710.94543862 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145535 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145535 ms (missed cycles : 5).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787695711.56674099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.86sINFOros2_control_node[2026-08-25 22:08:31.868] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-25 22:08:31.868] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493748 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493748 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668869 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668869 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1787695732.43972182 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 4.21sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132806 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.25sERRORobjective_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: 1787695732.43972182 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 4.21sWARNros2_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 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_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 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 5.45sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[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 2.134095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_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 + 2.17sERRORobjective_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: 1787695732.43972182 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_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 5.023982 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 3.13sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_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 + 2.17sERRORobjective_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: 1787695732.43972182 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_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 5.023982 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 3.13sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134095 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757793 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_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 + 2.17sERRORobjective_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: 1787695732.43972182 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.25sINFOros2_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 5.023982 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023982 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787695733.08618498 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787695733.15630102 seconds ×3 + 3.13sWARNros2_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 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229444 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787695733.74835086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_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 + 3.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787695733.77566791 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787695734.50826526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-25 22:08:54.632] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427638 ms (missed cycles : 4).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579783 ms (missed cycles : 2).[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 4.517587 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517587 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_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 + 3.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Got request to cancel active goal. ×2 + 3.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787695744.94418383 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695745.53826714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695746.78840232 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695747.39373970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.12sINFOobjective_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 + 6.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695747.39618111 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2).[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 4.517587 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517587 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931237 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406806 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323920 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_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 + 3.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Got request to cancel active goal. ×2 + 3.67sINFOros2_control_node[2026-08-25 22:09:04.938] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787695744.94418383 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033672 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787695745.53826714 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026043 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787695746.78840232 seconds ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787695747.39373970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.12sINFOobjective_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 + 6.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787695747.39618111 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867507 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__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 · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.4s | 42 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/2026-08-25-22-04-02-872218-8004d7f75962-8709 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.75sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.76sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.76sINFOcontroller_managerupdate rate is 600 Hz + 1.76sINFOcontroller_managerOverruns handling is : enabled + 1.76sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.76sWARNcontroller_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. + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755021 ms (missed cycles : 3). + 1.97sINFOros2_control_node-1process started with pid [8757] ×2 + 1.97sINFOmove_group-9process started with pid [8794] ×2 + 1.97sINFOparameter_manager_node-10process started with pid [8795] ×2 + 1.97sINFOwaypoint_manager_node-11process started with pid [8796] ×2 + 1.97sINFOmove_joint_resampler_node-12process started with pid [8797] ×2 + 1.97sINFOmove_end_effector_resampler_node-13process started with pid [8798] ×2 + 1.97sINFOobjective_server_node_main-14process started with pid [8799] ×2 + 1.97sINFOcomponent_container_mt-15process started with pid [8800] ×2 + 1.97sINFOcomponent_container_mt-16process started with pid [8801] ×2 + 1.97sINFOexecute_objective_bridge-17process started with pid [8802] ×2 + 1.97sINFOui_teleop_bridge-18process started with pid [8803] ×2 + 1.97sINFOweb_bridge-19process started with pid [8804] ×2 + 1.97sINFOtf2_web_republisher_node-20process started with pid [8868] ×2 + 1.97sINFOvideo_server-21process started with pid [8869] ×2 + 1.97sINFOweb_bridge_auth_proxy-22process started with pid [8870] ×2 + 1.97sINFOweb_video_auth_proxy-23process started with pid [8871] ×2 + 1.99sINFOros2-2process started with pid [8758] ×2 + 1.99sINFOros2-3process started with pid [8759] ×2 + 1.99sINFOros2-4process started with pid [8760] ×2 + 1.99sINFOros2-5process started with pid [8761] ×2 + 1.99sINFOros2-6process started with pid [8762] ×2 + 1.99sINFOros2-7process started with pid [8763] ×2 + 1.99sINFOros2-8process started with pid [8764] ×2 + 2.01sINFOcontroller_managerReceived robot description from topic. + 2.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.02sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.02sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.03sWARNros2_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 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755021 ms (missed cycles : 3).[0m ×2 + 2.03sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.04sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.39sINFOvideo_server2026/08/25 22:04:05 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.39sINFOvideo_server2026/08/25 22:04:05 INF configuration loaded from /tmp/moveit-webrtc-u8fk2rb0/mediamtx.yml ×2 + 2.40sINFOvideo_server2026/08/25 22:04:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.40sINFOvideo_server2026/08/25 22:04:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.78sINFOmove_group[2026-08-25 22:04:06.374] [moveit_pro_license] [info] ×2 + 2.78sINFOmove_group************************************************* ×4 + 2.78sINFOmove_group* MoveIt Pro License ×2 + 2.78sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518665 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518665 ms (missed cycles : 3).[0m ×2 + 3.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.20sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.20sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.20sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.21sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.22sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.22sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.22sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.22sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.26sINFOros2_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 + 3.26sINFOros2_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 + 3.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.36sINFOwaypoint_manager_node[2026-08-25 22:04:06.958] [moveit_pro_license] [info] ×2 + 3.36sINFOwaypoint_manager_node************************************************* ×4 + 3.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.38sINFOmove_group ×4 + 3.38sINFOmove_group[92mYou can start planning now![0m ×2 + 3.51sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.65sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109843 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.109843 ms (missed cycles : 5).[0m ×2 + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.72sINFOobjective_server_node[2026-08-25 22:04:08.314] [moveit_pro_license] [info] ×2 + 4.72sINFOobjective_server_node************************************************* ×4 + 4.72sINFOobjective_server_node* MoveIt Pro License ×2 + 4.72sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.83sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.83sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.84sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.84sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.84sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.84sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.84sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.84sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.84sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.84sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.90sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.90sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.19sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.19sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.20sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.20sWARNros2_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 + 5.20sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.20sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.20sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.20sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.20sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.20sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.20sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.20sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.20sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.20sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.20sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.20sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.20sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.20sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.20sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.20sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.20sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.20sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.20sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.41sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.41sINFOcomponent_container_mt[2026-08-25 22:04:09.003] [moveit_pro_license] [info] ×2 + 5.41sINFOcomponent_container_mt************************************************* ×4 + 5.41sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.51sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 5.51sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 5.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.55sINFOros2_control_node[2026-08-25 22:04:09.152] [info] Controller state will be published at 10 Hz. ×2 + 5.55sINFOros2_control_node[2026-08-25 22:04:09.153] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.69sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 5.69sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.69sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 5.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.85sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.85sINFOros2-7process has finished cleanly [pid 8763] ×2 + 5.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 5.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 5.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.98sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.98sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.00sINFOros2_control_node[2026-08-25 22:04:09.600] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.00sINFOros2_control_node[2026-08-25 22:04:09.600] [info] Controller state will be published at 50 Hz. ×2 + 6.01sINFOros2_control_node[2026-08-25 22:04:09.608] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3).[0m ×2 + 6.22sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.31sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 6.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 6.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.37sINFOros2-6process has finished cleanly [pid 8762] ×2 + 6.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.37sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.38sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 6.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 6.72sINFOros2-4process has finished cleanly [pid 8760] ×2 + 6.75sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.75sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.75sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.75sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.76sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.76sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.76sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.77sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.77sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 7.07sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 7.09sINFOros2-5process has finished cleanly [pid 8761] ×2 + 7.13sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.13sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.14sINFOforce_torque_sensor_broadcasterconfigure successful + 7.14sINFOros2_control_nodeconfigure successful[0m ×2 + 7.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.15sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.15sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.46sINFOros2-2process has finished cleanly [pid 8758] ×2 + 7.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 7.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 7.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.51sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 7.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 7.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.84sINFOros2-3process has finished cleanly [pid 8759] ×2 + 7.85sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.85sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.85sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.85sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 7.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 7.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.98sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 7.98sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.30sINFOros2-8process has finished cleanly [pid 8764] ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 9.16sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 9.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 10.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 10.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 304 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.16sINFOros2-2process has finished cleanly [pid 8758] ×2 + 0.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.16sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.16sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.17sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 0.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.53sINFOros2-3process has finished cleanly [pid 8759] ×2 + 0.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.65sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.65sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.68sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.68sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sINFOros2-8process has finished cleanly [pid 8764] ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 3.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.72sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.73sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 8760] ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_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 ] ×2 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.42sINFOros2-5process has finished cleanly [pid 8761] ×2 + 0.46sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.47sINFOforce_torque_sensor_broadcasterconfigure successful + 0.47sINFOros2_control_nodeconfigure successful[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.79sINFOros2-2process has finished cleanly [pid 8758] ×2 + 0.79sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOros2-3process has finished cleanly [pid 8759] ×2 + 1.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.28sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.31sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOros2-8process has finished cleanly [pid 8764] ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.36sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 28 warnings · 304 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.16sINFOros2-2process has finished cleanly [pid 8758] ×2 + 0.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.16sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.16sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.17sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 0.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.53sINFOros2-3process has finished cleanly [pid 8759] ×2 + 0.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.65sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.65sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.68sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.68sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sINFOros2-8process has finished cleanly [pid 8764] ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 3.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 5.61sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.72sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.73sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 425 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-25 22:04:09.608] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3).[0m ×2 + 0.30sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 8762] ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.45sINFOros2_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 + 0.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.76sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.80sINFOros2-4process has finished cleanly [pid 8760] ×2 + 0.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.17sINFOros2-5process has finished cleanly [pid 8761] ×2 + 1.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.22sINFOforce_torque_sensor_broadcasterconfigure successful + 1.22sINFOros2_control_nodeconfigure successful[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.54sINFOros2-2process has finished cleanly [pid 8758] ×2 + 1.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.54sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.54sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.55sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.59sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.59sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.59sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 1.60sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sINFOros2-3process has finished cleanly [pid 8759] ×2 + 1.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.99sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 2.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sINFOros2-8process has finished cleanly [pid 8764] ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 98 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/2026-08-25-22-04-02-872218-8004d7f75962-8709 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.75sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.76sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.76sINFOcontroller_managerupdate rate is 600 Hz + 1.76sINFOcontroller_managerOverruns handling is : enabled + 1.76sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.76sWARNcontroller_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. + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755021 ms (missed cycles : 3). + 1.97sINFOros2_control_node-1process started with pid [8757] ×2 + 1.97sINFOmove_group-9process started with pid [8794] ×2 + 1.97sINFOparameter_manager_node-10process started with pid [8795] ×2 + 1.97sINFOwaypoint_manager_node-11process started with pid [8796] ×2 + 1.97sINFOmove_joint_resampler_node-12process started with pid [8797] ×2 + 1.97sINFOmove_end_effector_resampler_node-13process started with pid [8798] ×2 + 1.97sINFOobjective_server_node_main-14process started with pid [8799] ×2 + 1.97sINFOcomponent_container_mt-15process started with pid [8800] ×2 + 1.97sINFOcomponent_container_mt-16process started with pid [8801] ×2 + 1.97sINFOexecute_objective_bridge-17process started with pid [8802] ×2 + 1.97sINFOui_teleop_bridge-18process started with pid [8803] ×2 + 1.97sINFOweb_bridge-19process started with pid [8804] ×2 + 1.97sINFOtf2_web_republisher_node-20process started with pid [8868] ×2 + 1.97sINFOvideo_server-21process started with pid [8869] ×2 + 1.97sINFOweb_bridge_auth_proxy-22process started with pid [8870] ×2 + 1.97sINFOweb_video_auth_proxy-23process started with pid [8871] ×2 + 1.99sINFOros2-2process started with pid [8758] ×2 + 1.99sINFOros2-3process started with pid [8759] ×2 + 1.99sINFOros2-4process started with pid [8760] ×2 + 1.99sINFOros2-5process started with pid [8761] ×2 + 1.99sINFOros2-6process started with pid [8762] ×2 + 1.99sINFOros2-7process started with pid [8763] ×2 + 1.99sINFOros2-8process started with pid [8764] ×2 + 2.01sINFOcontroller_managerReceived robot description from topic. + 2.01sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.02sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.02sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.03sWARNros2_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 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755021 ms (missed cycles : 3).[0m ×2 + 2.03sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.04sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.39sINFOvideo_server2026/08/25 22:04:05 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.39sINFOvideo_server2026/08/25 22:04:05 INF configuration loaded from /tmp/moveit-webrtc-u8fk2rb0/mediamtx.yml ×2 + 2.40sINFOvideo_server2026/08/25 22:04:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.40sINFOvideo_server2026/08/25 22:04:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.78sINFOmove_group[2026-08-25 22:04:06.374] [moveit_pro_license] [info] ×2 + 2.78sINFOmove_group************************************************* ×4 + 2.78sINFOmove_group* MoveIt Pro License ×2 + 2.78sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 425 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-25 22:04:09.608] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3).[0m ×2 + 0.30sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 8762] ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.45sINFOros2_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 + 0.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.76sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.80sINFOros2-4process has finished cleanly [pid 8760] ×2 + 0.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.17sINFOros2-5process has finished cleanly [pid 8761] ×2 + 1.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.22sINFOforce_torque_sensor_broadcasterconfigure successful + 1.22sINFOros2_control_nodeconfigure successful[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.54sINFOros2-2process has finished cleanly [pid 8758] ×2 + 1.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.54sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.54sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.55sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.59sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.59sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.59sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 1.60sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sINFOros2-3process has finished cleanly [pid 8759] ×2 + 1.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.99sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 2.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sINFOros2-8process has finished cleanly [pid 8764] ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 425 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_node[2026-08-25 22:04:09.573] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-25 22:04:09.600] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-25 22:04:09.608] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485244 ms (missed cycles : 3).[0m ×2 + 0.30sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 8762] ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.45sINFOros2_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 + 0.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.76sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.76sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.80sINFOros2-4process has finished cleanly [pid 8760] ×2 + 0.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.17sINFOros2-5process has finished cleanly [pid 8761] ×2 + 1.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.22sINFOforce_torque_sensor_broadcasterconfigure successful + 1.22sINFOros2_control_nodeconfigure successful[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.54sINFOros2-2process has finished cleanly [pid 8758] ×2 + 1.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.54sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.54sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.55sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.59sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.59sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.59sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.59sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.59sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 1.60sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.60sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sINFOros2-3process has finished cleanly [pid 8759] ×2 + 1.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.99sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 2.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.38sINFOros2-8process has finished cleanly [pid 8764] ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 404 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 8760] ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.08sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.08sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_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 ] ×2 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.42sINFOros2-5process has finished cleanly [pid 8761] ×2 + 0.46sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.46sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.47sINFOforce_torque_sensor_broadcasterconfigure successful + 0.47sINFOros2_control_nodeconfigure successful[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.47sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.79sINFOros2-2process has finished cleanly [pid 8758] ×2 + 0.79sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 0.79sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 0.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.80sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899480 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787695451.25952435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787695451.26971507 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.16sINFOros2-3process has finished cleanly [pid 8759] ×2 + 1.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb + 1.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tddeik4y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_0ck8lzck --params-file /tmp/launch_params_5seytcsb [0m ×2 + 1.28sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.29sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.31sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.63sINFOros2-8process has finished cleanly [pid 8764] ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.25sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.36sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 239 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151512 ms (missed cycles : 4). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151512 ms (missed cycles : 4).[0m ×2 + 7.24sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.57sINFOros2_control_node[2026-08-25 22:04:19.144] [info] Received new action goal ×2 + 7.57sINFOros2_control_node[2026-08-25 22:04:19.144] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 223 info |
+ 0.00sINFOros2_control_node[2026-08-25 22:04:11.577] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-08-25 22:04:11.578] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787695451.85610056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.32sINFOros2-8process has finished cleanly [pid 8764] ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470060 ms (missed cycles : 3).[0m ×2 + 1.18sWARNros2_control_nodeCamera render tick took 1.74 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787695452.91623569 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964032 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787695453.53568053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787695453.59582710 seconds ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787695454.30716443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787695454.32729149 seconds ×3 + 2.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686518 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787695455.03553009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787695455.18604994 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092235 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787695455.86098528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787695455.91110492 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787695456.50656700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544500 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2535e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-25 22:04:16.633] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496939 ms (missed cycles : 3).[0m ×2 | ||||