117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.7s
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 · 19800 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-26 19:06:24.368] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-26 19:06:24.368] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950602 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950602 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156968 ms (missed cycles : 7). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156968 ms (missed cycles : 7).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727840 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727840 ms (missed cycles : 5).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004714 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004714 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787771187.97415805 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787771188.57964969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054552 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054552 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.50sINFOros2_control_node[2026-08-26 19:06:28.743] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-26 19:06:28.743] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058868 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058868 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.48sWARNros2_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 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480626 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480626 ms (missed cycles : 3).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899723 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899723 ms (missed cycles : 2).[0m ×2 + 7.96sINFOjoint_trajectory_controllerReceived new action goal ×3258 + 7.96sINFOjoint_trajectory_controllerAccepted new action goal ×3258 + 7.96sINFOros2_control_nodeReceived new action goal[0m ×6516 + 7.96sINFOros2_control_nodeAccepted new action goal[0m ×6516 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734303 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734303 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693101 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693101 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686762 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686762 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033085 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033085 ms (missed cycles : 2).[0m ×2 + 12.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 12.82sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.82sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.83sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.83sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906905 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906905 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798745 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798745 ms (missed cycles : 2).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454084 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454084 ms (missed cycles : 4).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769810 ms (missed cycles : 6). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.769810 ms (missed cycles : 6).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764076 ms (missed cycles : 5). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764076 ms (missed cycles : 5).[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813099 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813099 ms (missed cycles : 2).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067480 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067480 ms (missed cycles : 2).[0m ×2 + 19.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740896 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740896 ms (missed cycles : 2).[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959576 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959576 ms (missed cycles : 2).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042141 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042141 ms (missed cycles : 2).[0m ×2 + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184556 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184556 ms (missed cycles : 2).[0m ×2 + 24.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678707 ms (missed cycles : 2). + 24.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678707 ms (missed cycles : 2).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.955101 ms (missed cycles : 9). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.955101 ms (missed cycles : 9).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679003 ms (missed cycles : 3). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679003 ms (missed cycles : 3).[0m ×2 + 26.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708380 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708380 ms (missed cycles : 3).[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151317 ms (missed cycles : 4). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151317 ms (missed cycles : 4).[0m ×2 + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142043 ms (missed cycles : 2). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142043 ms (missed cycles : 2).[0m ×2 + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070032 ms (missed cycles : 2). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070032 ms (missed cycles : 2).[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977397 ms (missed cycles : 2). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977397 ms (missed cycles : 2).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277863 ms (missed cycles : 4). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277863 ms (missed cycles : 4).[0m ×2 + 32.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980990 ms (missed cycles : 2). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980990 ms (missed cycles : 2).[0m ×2 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884609 ms (missed cycles : 2). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884609 ms (missed cycles : 2).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560042 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560042 ms (missed cycles : 2).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450965 ms (missed cycles : 2). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450965 ms (missed cycles : 2).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501430 ms (missed cycles : 2). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501430 ms (missed cycles : 2).[0m ×2 + 38.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776476 ms (missed cycles : 2). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776476 ms (missed cycles : 2).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718300 ms (missed cycles : 2). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718300 ms (missed cycles : 2).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874810 ms (missed cycles : 2). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874810 ms (missed cycles : 2).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561649 ms (missed cycles : 2). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561649 ms (missed cycles : 2).[0m ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882244 ms (missed cycles : 5). + 43.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882244 ms (missed cycles : 5).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810177 ms (missed cycles : 2). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810177 ms (missed cycles : 2).[0m ×2 + 44.81sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567453 ms (missed cycles : 5). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567453 ms (missed cycles : 5).[0m ×2 + 45.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596439 ms (missed cycles : 2). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596439 ms (missed cycles : 2).[0m ×2 + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116954 ms (missed cycles : 4). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116954 ms (missed cycles : 4).[0m ×2 + 48.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787771232.37255716 seconds ×3 + 48.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919876 ms (missed cycles : 2). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919876 ms (missed cycles : 2).[0m ×2 + 48.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787771233.01125765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.91sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 48.92sINFOros2_control_node[2026-08-26 19:07:13.169] [info] Received new action goal ×2 + 48.92sINFOros2_control_node[2026-08-26 19:07:13.169] [info] Accepted new action goal ×2 + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766549 ms (missed cycles : 2). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766549 ms (missed cycles : 2).[0m ×2 + 50.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227784 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227784 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.6s | 151 warnings · 293 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.04sINFOobjective_server_node[2026-08-26 19:05:30.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258192499 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258224889 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.72sINFOobjective_server_node[2026-08-26 19:05:31.420] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 19:05:31.468673234 [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 + 0.77sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471503724 [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;93m2026-08-26 19:05:31.471526167 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 19:05:31.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sINFOobjective_server_node[0;93m2026-08-26 19:05:31.874267779 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.898996795 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.899025210 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787771133.68593740 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787771134.37443638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110070 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110070 ms (missed cycles : 2).[0m ×2 + 6.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.96sINFOros2_control_node[2026-08-26 19:05:37.668] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-08-26 19:05:37.668] [info] Accepted new action goal ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551184 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551184 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768956 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768956 ms (missed cycles : 3).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801925 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801925 ms (missed cycles : 3).[0m ×2 + 10.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.09sINFOros2_control_node[2026-08-26 19:05:40.798] [info] Received new action goal ×2 + 10.09sINFOros2_control_node[2026-08-26 19:05:40.798] [info] Accepted new action goal ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680907 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680907 ms (missed cycles : 3).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237355 ms (missed cycles : 5). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237355 ms (missed cycles : 5).[0m ×2 + 13.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 13.07sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.13sINFOros2_control_node[2026-08-26 19:05:43.832] [info] Received new action goal ×2 + 13.13sINFOros2_control_node[2026-08-26 19:05:43.832] [info] Accepted new action goal ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791630 ms (missed cycles : 3). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791630 ms (missed cycles : 3).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743999 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743999 ms (missed cycles : 2).[0m ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829792 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829792 ms (missed cycles : 3).[0m ×2 + 16.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.09sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.09sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.09sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.09sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307749 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307749 ms (missed cycles : 2).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620465 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620465 ms (missed cycles : 3).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724443 ms (missed cycles : 5). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724443 ms (missed cycles : 5).[0m ×2 + 19.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930925 ms (missed cycles : 3). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930925 ms (missed cycles : 3).[0m ×2 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173068 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173068 ms (missed cycles : 2).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186067 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186067 ms (missed cycles : 2).[0m ×2 + 22.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 22.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.84sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.84sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.84sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.84sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353540 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353540 ms (missed cycles : 2).[0m ×2 + 23.77sINFOros2_control_node[2026-08-26 19:05:54.478] [info] Received new action goal ×2 + 23.77sINFOros2_control_node[2026-08-26 19:05:54.478] [info] Accepted new action goal ×2 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640085 ms (missed cycles : 4). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640085 ms (missed cycles : 4).[0m ×2 + 24.94sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 24.95sINFOobjective_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 + 25.23sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 25.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.27sINFOros2_control_node[2026-08-26 19:05:55.979] [info] Received new action goal ×2 + 25.27sINFOros2_control_node[2026-08-26 19:05:55.979] [info] Accepted new action goal ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682497 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682497 ms (missed cycles : 2).[0m ×2 + 25.96sWARNros2_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 + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956422 ms (missed cycles : 2). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956422 ms (missed cycles : 2).[0m ×2 + 27.40sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 27.40sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.41sINFOros2_control_node[2026-08-26 19:05:58.119] [info] Received new action goal ×2 + 27.41sINFOros2_control_node[2026-08-26 19:05:58.119] [info] Accepted new action goal ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429808 ms (missed cycles : 2). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429808 ms (missed cycles : 2).[0m ×2 + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406492 ms (missed cycles : 3). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406492 ms (missed cycles : 3).[0m ×2 + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618670 ms (missed cycles : 5). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.618670 ms (missed cycles : 5).[0m ×2 + 30.44sINFOros2_control_node[2026-08-26 19:06:01.148] [info] Received new action goal ×2 + 30.44sINFOros2_control_node[2026-08-26 19:06:01.148] [info] Accepted new action goal ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837638 ms (missed cycles : 5). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837638 ms (missed cycles : 5).[0m ×2 + 31.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.726825 ms (missed cycles : 5). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.726825 ms (missed cycles : 5).[0m ×2 + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147400 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147400 ms (missed cycles : 2).[0m ×2 + 33.04sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 33.05sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.10sINFOros2_control_node[2026-08-26 19:06:03.801] [info] Received new action goal ×2 + 33.10sINFOros2_control_node[2026-08-26 19:06:03.801] [info] Accepted new action goal ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918947 ms (missed cycles : 5). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918947 ms (missed cycles : 5).[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896620 ms (missed cycles : 2). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896620 ms (missed cycles : 2).[0m ×2 + 36.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607434 ms (missed cycles : 2). + 36.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607434 ms (missed cycles : 2).[0m ×2 + 37.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586590 ms (missed cycles : 3). + 37.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586590 ms (missed cycles : 3).[0m ×2 + 38.35sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178125 ms (missed cycles : 4). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178125 ms (missed cycles : 4).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912883 ms (missed cycles : 2). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912883 ms (missed cycles : 2).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817724 ms (missed cycles : 5). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817724 ms (missed cycles : 5).[0m ×2 + 41.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400213 ms (missed cycles : 2). + 41.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400213 ms (missed cycles : 2).[0m ×2 + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797089 ms (missed cycles : 2). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797089 ms (missed cycles : 2).[0m ×2 + 44.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277518 ms (missed cycles : 2). + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277518 ms (missed cycles : 2).[0m ×2 + 44.39sINFOros2_control_node[2026-08-26 19:06:15.098] [info] Received new action goal ×2 + 44.39sINFOros2_control_node[2026-08-26 19:06:15.098] [info] Accepted new action goal ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179639 ms (missed cycles : 4). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179639 ms (missed cycles : 4).[0m ×2 + 45.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787771176.26460147 seconds ×3 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600050 ms (missed cycles : 2). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600050 ms (missed cycles : 2).[0m ×2 + 46.37sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787771177.07394505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435160 ms (missed cycles : 4). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435160 ms (missed cycles : 4).[0m ×2 + 47.54sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 47.55sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.56sINFOros2_control_node[2026-08-26 19:06:18.268] [info] Received new action goal ×2 + 47.56sINFOros2_control_node[2026-08-26 19:06:18.268] [info] Accepted new action goal ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257404 ms (missed cycles : 2). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257404 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 28.5s | 108 warnings · 2733 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6).[0m ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787771254.49287939 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2). + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787771255.13668823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2).[0m ×2 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOobjective_server_nodeFound path in 5 iterations (0.00767109 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.92sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514714 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514714 ms (missed cycles : 2).[0m ×2 + 7.97sWARNros2_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 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432037 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432037 ms (missed cycles : 2).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108090 ms (missed cycles : 4). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108090 ms (missed cycles : 4).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931480 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931480 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763456 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763456 ms (missed cycles : 3).[0m ×2 + 13.01sWARNros2_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 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048846 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048846 ms (missed cycles : 2).[0m ×2 + 14.27sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091559 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091559 ms (missed cycles : 2).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136662 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136662 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809172 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809172 ms (missed cycles : 2).[0m ×2 + 17.11sINFOobjective_server_nodeFound path in 4 iterations (0.00360657 s). ×2 + 17.20sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 17.23sINFOobjective_server_nodeFound path in 12 iterations (0.00495241 s). ×2 + 17.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 17.36sINFOobjective_server_nodeFound path in 1 iterations (0.00293519 s). ×2 + 17.42sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 17.44sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 17.49sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 17.50sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 17.55sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 17.58sINFOobjective_server_nodeFound path in 12 iterations (0.00644259 s). ×2 + 17.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________X____________________X] ×2 + 17.69sINFOobjective_server_nodeFound path in 1 iterations (0.00443451 s). ×2 + 17.75sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 17.77sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 17.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 17.85sINFOobjective_server_nodeFound path in 4 iterations (0.00519242 s). ×2 + 17.98sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.01sINFOobjective_server_nodeFound path in 4 iterations (0.00319265 s). ×2 + 18.13sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365932 ms (missed cycles : 2). + 18.15sINFOobjective_server_nodeFound path in 1 iterations (0.00665479 s). ×2 + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365932 ms (missed cycles : 2).[0m ×2 + 18.20sWARNros2_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 + 18.25sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 18.28sINFOobjective_server_nodeFound path in 1 iterations (0.00309053 s). ×2 + 18.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 18.44sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 18.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 18.54sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 18.63sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 18.66sINFOobjective_server_nodeFound path in 5 iterations (0.00524729 s). ×2 + 18.87sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X___X] ×2 + 18.90sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 19.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________X] ×2 + 19.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.37sINFOros2_control_node[2026-08-26 19:07:49.883] [info] Received new action goal ×2 + 19.37sINFOros2_control_node[2026-08-26 19:07:49.883] [info] Accepted new action goal ×2 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862487 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862487 ms (missed cycles : 3).[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062513 ms (missed cycles : 4). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062513 ms (missed cycles : 4).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173220 ms (missed cycles : 5). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.173220 ms (missed cycles : 5).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.216285 ms (missed cycles : 7). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.216285 ms (missed cycles : 7).[0m ×2 + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192003 ms (missed cycles : 5). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192003 ms (missed cycles : 5).[0m ×2 + 24.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 24.36sINFOros2_control_node[2026-08-26 19:07:54.876] [info] Received new action goal ×2 + 24.36sINFOros2_control_node[2026-08-26 19:07:54.876] [info] Accepted new action goal ×2 + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774037 ms (missed cycles : 2). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774037 ms (missed cycles : 2).[0m ×2 + 26.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.05sINFOros2_control_node[2026-08-26 19:07:56.568] [info] Received new action goal ×2 + 26.05sINFOros2_control_node[2026-08-26 19:07:56.568] [info] Accepted new action goal ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779831 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779831 ms (missed cycles : 2).[0m ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030802 ms (missed cycles : 3). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030802 ms (missed cycles : 3).[0m ×2 + 27.27sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.30sINFOros2_control_node[2026-08-26 19:07:57.820] [info] Received new action goal ×2 + 27.30sINFOros2_control_node[2026-08-26 19:07:57.820] [info] Accepted new action goal ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599027 ms (missed cycles : 5). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.599027 ms (missed cycles : 5).[0m ×2 + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3).[0m ×2 + 29.98sWARNros2_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 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5).[0m ×2 + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2).[0m ×2 + 32.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787771283.04541993 seconds ×3 + 32.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5).[0m ×2 + 33.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787771283.72677326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.42sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 33.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.44sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Received new action goal ×2 + 33.44sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Accepted new action goal ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2).[0m ×2 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 ms (missed cycles : 3). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 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 · 14092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2322 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2322 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4644 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4644 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810177 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810177 ms (missed cycles : 2).[0m ×2 + 0.66sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567453 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567453 ms (missed cycles : 5).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596439 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596439 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116954 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116954 ms (missed cycles : 4).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787771232.37255716 seconds ×3 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919876 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919876 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787771233.01125765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-26 19:07:13.169] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-26 19:07:13.169] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766549 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766549 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 6.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227784 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227784 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469645 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469645 ms (missed cycles : 3).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506327 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506327 ms (missed cycles : 2).[0m ×2 + 9.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713202 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713202 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750336 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750336 ms (missed cycles : 2).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411841 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411841 ms (missed cycles : 3).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975596 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975596 ms (missed cycles : 3).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489857 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489857 ms (missed cycles : 2).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383536 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383536 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151232 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151232 ms (missed cycles : 2).[0m ×2 + 16.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818829 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818829 ms (missed cycles : 2).[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829258 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829258 ms (missed cycles : 2).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921130 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921130 ms (missed cycles : 2).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519689 ms (missed cycles : 4). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519689 ms (missed cycles : 4).[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704155 ms (missed cycles : 2). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704155 ms (missed cycles : 2).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2).[0m ×2 + 23.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6).[0m ×2 + 23.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7).[0m ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2).[0m ×2 + 26.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787771254.49287939 seconds ×3 + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2). + 26.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787771255.13668823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2).[0m ×2 + 26.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.93sINFOobjective_server_nodeFound path in 5 iterations (0.00767109 s). ×2 + 27.02sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.03sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Received new action goal ×2 + 27.03sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Accepted new action goal ×2 + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4). + 27.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4).[0m ×2 + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 18.6s | 3 errors · 77 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_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 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 2.13sERRORobjective_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: 1787771057.18598866 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529083 ms (missed cycles : 6). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.529083 ms (missed cycles : 6).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186287 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186287 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516054 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516054 ms (missed cycles : 3).[0m ×2 + 8.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109464 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109464 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.883885 ms (missed cycles : 8). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.883885 ms (missed cycles : 8).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583907 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583907 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293604 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293604 ms (missed cycles : 3).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055475 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055475 ms (missed cycles : 4).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080023 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080023 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 14.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 14.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 15.28sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 15.31sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 15.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 15.42sINFOobjective_server_nodeFound path in 1 iterations (0.00298704 s). ×2 + 15.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 15.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 15.67sINFOros2_control_node[2026-08-26 19:04:30.725] [info] Received new action goal ×2 + 15.67sINFOros2_control_node[2026-08-26 19:04:30.725] [info] Accepted new action goal ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949673 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949673 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966715 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966715 ms (missed cycles : 2).[0m ×2 + 18.14sINFOros2_control_node[2026-08-26 19:04:33.197] [info] Received new action goal ×2 + 18.14sINFOros2_control_node[2026-08-26 19:04:33.197] [info] Accepted new action goal ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971603 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971603 ms (missed cycles : 2).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 20.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 20.08sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 20.08sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 21.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 21.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 22.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 22.83sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.93sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 22.94sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 22.95sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 22.95sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 59 warnings · 181 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×6 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719100 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719100 ms (missed cycles : 4).[0m ×2 + 0.97sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.97sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.98sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 0.98sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.10sINFOobjective_server_nodeFound path in 1 iterations (0.00341583 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.34sINFOros2_control_node[2026-08-26 19:05:07.926] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-08-26 19:05:07.926] [info] Accepted new action goal ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441426 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441426 ms (missed cycles : 2).[0m ×2 + 1.77sINFOros2_control_node[2026-08-26 19:05:08.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-26 19:05:08.358] [info] Accepted new action goal ×2 + 2.47sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073391 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073391 ms (missed cycles : 2).[0m ×2 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.59sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sERRORobjective_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: 1787771110.20934105 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989913 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989913 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787771111.00065184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.60sINFOros2_control_node[2026-08-26 19:05:11.184] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-26 19:05:11.184] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818162 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818162 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543488 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543488 ms (missed cycles : 2).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003737 ms (missed cycles : 4). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003737 ms (missed cycles : 4).[0m ×2 + 7.11sINFOros2_control_node[2026-08-26 19:05:13.689] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-08-26 19:05:13.689] [info] Accepted new action goal ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460895 ms (missed cycles : 5). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460895 ms (missed cycles : 5).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535030 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535030 ms (missed cycles : 3).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322731 ms (missed cycles : 5). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322731 ms (missed cycles : 5).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010002 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010002 ms (missed cycles : 2).[0m ×2 + 11.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234340 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234340 ms (missed cycles : 2).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2).[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787771122.25938988 seconds ×3 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4).[0m ×2 + 16.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787771122.93444633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787771122.99457836 seconds ×3 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2).[0m ×2 + 17.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787771123.59432673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.12sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 17.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.13sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Received new action goal ×2 + 17.13sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Accepted new action goal ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 62 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400213 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400213 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797089 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797089 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_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 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.53sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277518 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277518 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.41sINFOros2_control_node[2026-08-26 19:06:15.098] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-08-26 19:06:15.098] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179639 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179639 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787771176.26460147 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600050 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600050 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787771177.07394505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435160 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435160 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.55sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.58sINFOros2_control_node[2026-08-26 19:06:18.268] [info] Received new action goal ×2 + 5.58sINFOros2_control_node[2026-08-26 19:06:18.268] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257404 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257404 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275208 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275208 ms (missed cycles : 4).[0m ×2 + 7.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224644 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224644 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 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673946 ms (missed cycles : 5). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673946 ms (missed cycles : 5).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699193 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699193 ms (missed cycles : 3).[0m ×2 + 11.65sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 11.67sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.68sINFOros2_control_node[2026-08-26 19:06:24.368] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-08-26 19:06:24.368] [info] Accepted new action goal ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950602 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950602 ms (missed cycles : 3).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156968 ms (missed cycles : 7). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156968 ms (missed cycles : 7).[0m ×2 + 12.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727840 ms (missed cycles : 5). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727840 ms (missed cycles : 5).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004714 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004714 ms (missed cycles : 4).[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787771187.97415805 seconds ×3 + 15.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787771188.57964969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054552 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054552 ms (missed cycles : 2).[0m ×2 + 16.05sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 16.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.06sINFOros2_control_node[2026-08-26 19:06:28.743] [info] Received new action goal ×2 + 16.06sINFOros2_control_node[2026-08-26 19:06:28.743] [info] Accepted new action goal ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058868 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058868 ms (missed cycles : 3).[0m ×2 + 17.32sINFOobjective_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 + 17.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.04sWARNros2_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 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480626 ms (missed cycles : 3). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480626 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 57 errors · 42 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2).[0m ×2 + 0.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Got request to cancel active goal. ×2 + 0.48sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Canceling active goal... ×2 + 0.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771339.17786765 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771339.78143167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771340.81157422 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787771341.40750146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.71sINFOobjective_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 + 2.71sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.71sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787771341.40995479 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787771342.13574195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787771342.13636875 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771342.73242497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2).[0m ×2 + 4.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787771343.85255194 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865220 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865220 ms (missed cycles : 2).[0m ×2 + 5.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125266 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125266 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130989 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130989 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824829 ms (missed cycles : 5). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824829 ms (missed cycles : 5).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980572 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980572 ms (missed cycles : 3).[0m ×2 + 10.37sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954447 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954447 ms (missed cycles : 3).[0m ×2 + 10.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.82sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.83sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.83sERRORweb_video_auth_proxy-23process has died [pid 9320, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.84sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.85sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORweb_bridge_auth_proxy-22process has died [pid 9319, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.86sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.89sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.90sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.91sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.92sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.92sINFOvideo_server-21process has finished cleanly [pid 9318] ×2 + 10.93sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.94sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.95sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.96sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.98sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.99sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.00sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.02sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.03sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.05sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.05sINFOcontroller_managerShutdown request received.... + 11.05sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.05sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.05sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.05sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.05sINFOvideo_server2026/08/26 19:09:09 INF shutting down gracefully ×2 + 11.05sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.05sINFOvideo_server2026/08/26 19:09:09 INF [WebRTC] closing ×2 + 11.05sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.05sINFOvideo_server2026/08/26 19:09:09 INF [RTSP] closing ×2 + 11.05sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.05sINFOvideo_server2026/08/26 19:09:09 INF waiting for running hooks ×2 + 11.05sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.05sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.05sINFOcontroller_managerShutting down the controller manager. + 11.05sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.05sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.05sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.05sERRORmove_groupStack trace (most recent call last) in thread 9688: ×2 + 11.05sERRORmove_group-9process has died [pid 9243, 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_aph9di2h --params-file /tmp/launch_params_slctd2ru --params-file /tmp/launch_params_r7ea_llw --params-file /tmp/launch_params_1ati9eot --params-file /tmp/launch_params_otyns_s5 --params-file /tmp/launch_params_ste2tfb8']. ×2 + 11.05sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.05sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0fdfe53a63, in __clone ×2 + 11.05sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0fdfdc6aa3, in ×2 + 11.05sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0fe0058db3, in ×2 + 11.05sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f0fe07c9a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.05sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0fe03ea620, in rclcpp::Rate::sleep() ×2 + 11.05sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0fe032cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.05sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0fe02ee087, in ×2 + 11.05sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0fe0027390, in __cxa_throw ×2 + 11.05sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0fe0011a54, in std::terminate() ×2 + 11.05sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0fe00270d9, in ×2 + 11.05sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0fe0011ff4, in ×2 + 11.06sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0fdfd528fe, in abort ×2 + 11.06sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0fdfd6f27d, in raise ×2 + 11.06sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0fdfdc8b2c, in pthread_kill ×2 + 11.06sERRORmove_groupAborted (Signal sent by tkill() 9243 0) ×2 + 11.06sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.06sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.06sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.26sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.26sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.26sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.94sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9317] ×2 + 11.94sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.02sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9247] ×2 + 12.03sINFOexecute_objective_bridge-17process has finished cleanly [pid 9251] ×2 + 12.04sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9246] ×2 + 12.04sINFOui_teleop_bridge-18process has finished cleanly [pid 9252] ×2 + 12.04sINFOcomponent_container_mt-16process has finished cleanly [pid 9250] ×2 + 12.08sINFOwaypoint_manager_node-11process has finished cleanly [pid 9245] ×2 + 12.10sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.11sINFOparameter_manager_node-10process has finished cleanly [pid 9244] ×2 + 12.16sINFOcomponent_container_mt-15process has finished cleanly [pid 9249] ×2 + 12.17sINFOobjective_server_node[0;m[2026-08-26 19:09:10.865] [moveit_pro_license] [info] ×2 + 12.17sINFOobjective_server_node************************************************* ×4 + 12.17sINFOobjective_server_node* MoveIt Pro License ×2 + 12.17sINFOobjective_server_node* Application has successfully terminated ×2 + 12.62sINFOobjective_server_node_main-14process has finished cleanly [pid 9248] ×2 + 12.62sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.24sINFOweb_bridge-19process has finished cleanly [pid 9253] ×2 + 13.24sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.70sINFOros2_control_node-1process has finished cleanly [pid 9206] ×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 2.459772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 1.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.88sERRORobjective_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: 1787771326.66928077 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969697 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969697 ms (missed cycles : 2).[0m ×2 + 7.39sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.39sINFOros2_control_node[2026-08-26 19:08:52.185] [info] Received new action goal ×2 + 7.40sINFOros2_control_node[2026-08-26 19:08:52.187] [info] Accepted new action goal ×2 + 7.40sINFOros2_control_node[2026-08-26 19:08:52.187] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533011 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533011 ms (missed cycles : 4).[0m ×2 + 7.95sWARNros2_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 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266711 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266711 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719545 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719545 ms (missed cycles : 3).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2).[0m ×2 + 12.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2).[0m ×2 + 14.38sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Got request to cancel active goal. ×2 + 14.38sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Canceling active goal... ×2 + 14.39sERRORobjective_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: 1787771339.17786765 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771339.78143167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771340.81157422 seconds ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3).[0m ×2 + 16.62sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787771341.40750146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.62sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.62sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.62sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.62sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787771341.40995479 seconds ×3 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.14sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787771283.04541993 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787771283.72677326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.202363 ms (missed cycles : 8). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.202363 ms (missed cycles : 8).[0m ×2 + 6.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629412 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629412 ms (missed cycles : 2).[0m ×2 + 7.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (1.69e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 1 iterations (0.00318568 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.50sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.52sINFOros2_control_node[2026-08-26 19:08:08.424] [info] Received new action goal ×2 + 8.52sINFOros2_control_node[2026-08-26 19:08:08.424] [info] Accepted new action goal ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639421 ms (missed cycles : 5). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639421 ms (missed cycles : 5).[0m ×2 + 9.16sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086158 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086158 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 10.99sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 12.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 12.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.91sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 12.91sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 14.26sINFOobjective_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 + 14.26sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 14.26sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 14.27sERRORobjective_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: 1787771294.17203569 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 15.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.12sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 17.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 51 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369416 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369416 ms (missed cycles : 3).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.05sINFOros2_control_node[2026-08-26 19:04:41.376] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-08-26 19:04:41.376] [info] Accepted new action goal ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670860 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670860 ms (missed cycles : 2).[0m ×2 + 8.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366377 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366377 ms (missed cycles : 2).[0m ×2 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 9.40sINFOros2_control_node[2026-08-26 19:04:43.723] [info] Received new action goal ×2 + 9.40sINFOros2_control_node[2026-08-26 19:04:43.723] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638016 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638016 ms (missed cycles : 4).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 11.75sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 13.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 13.94sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 13.95sERRORobjective_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: 1787771088.27813458 seconds ×3 + 14.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 14.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.79sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[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 6.686147 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686147 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750861 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750861 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015979 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015979 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787771315.68567896 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698139 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698139 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787771316.28897262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-26 19:08:36.423] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-26 19:08:36.423] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495564 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495564 ms (missed cycles : 6).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701832 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701832 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541052 ms (missed cycles : 6). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541052 ms (missed cycles : 6).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405222 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405222 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839378 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839378 ms (missed cycles : 2).[0m ×2 + 9.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544443 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544443 ms (missed cycles : 3).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 14.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sERRORobjective_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: 1787771326.66928077 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 14.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.38sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 15.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.00sINFOobjective_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 + 16.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 16.71sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.84sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 16.84sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.85sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 16.85sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 62 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 0.64sWARNros2_control_nodeCamera render tick took 1.82 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 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 + 6.50sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.91sINFOros2_control_node[2026-08-26 19:04:09.469] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-08-26 19:04:09.469] [info] Accepted new action goal ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460782 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460782 ms (missed cycles : 3).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.095205 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.095205 ms (missed cycles : 5).[0m ×2 + 9.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703359 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703359 ms (missed cycles : 3).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021274 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021274 ms (missed cycles : 3).[0m ×2 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 10.61sINFOros2_control_node[2026-08-26 19:04:13.169] [info] Received new action goal ×2 + 10.61sINFOros2_control_node[2026-08-26 19:04:13.169] [info] Accepted new action goal ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 13.92sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.94sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 13.94sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 14.60sINFOobjective_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 + 14.61sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 14.61sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 14.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771057.18598866 seconds ×3 + 14.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 15.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 16.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.20sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 16.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.22sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 16.22sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658026 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658026 ms (missed cycles : 4).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541661 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541661 ms (missed cycles : 4).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129209 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129209 ms (missed cycles : 3).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868357 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868357 ms (missed cycles : 4).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030562 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030562 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441691 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441691 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433154 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433154 ms (missed cycles : 2).[0m ×2 + 14.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 14.59sERRORobjective_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: 1787771305.16532445 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724187 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724187 ms (missed cycles : 4).[0m ×2 + 15.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787771305.79085875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 15.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.52sINFOros2_control_node[2026-08-26 19:08:26.092] [info] Received new action goal ×2 + 15.52sINFOros2_control_node[2026-08-26 19:08:26.092] [info] Accepted new action goal ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674925 ms (missed cycles : 5). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674925 ms (missed cycles : 5).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842970 ms (missed cycles : 5). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842970 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732463 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732463 ms (missed cycles : 3).[0m ×2 + 0.17sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.44sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.45sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787771096.73253560 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153702 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153702 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723178 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723178 ms (missed cycles : 3).[0m ×2 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953879 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953879 ms (missed cycles : 3).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787771099.88994145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-08-26 19:05:00.124] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-08-26 19:05:00.124] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088959 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088959 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453943 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453943 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338338 ms (missed cycles : 6). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338338 ms (missed cycles : 6).[0m ×2 + 7.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938976 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938976 ms (missed cycles : 3).[0m ×2 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×4 + 7.58sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 1 iterations (0.00288166 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 1 iterations (0.0045363 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330045 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330045 ms (missed cycles : 2).[0m ×2 + 8.59sINFOros2_control_node[2026-08-26 19:05:04.856] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-08-26 19:05:04.856] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.292736 ms (missed cycles : 5). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.292736 ms (missed cycles : 5).[0m ×2 + 10.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719100 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719100 ms (missed cycles : 4).[0m ×2 + 11.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 11.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.42sINFOobjective_server_nodeFound path in 1 iterations (0.00341583 s). ×2 + 11.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.66sINFOros2_control_node[2026-08-26 19:05:07.926] [info] Received new action goal ×2 + 11.66sINFOros2_control_node[2026-08-26 19:05:07.926] [info] Accepted new action goal ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441426 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441426 ms (missed cycles : 2).[0m ×2 + 12.09sINFOros2_control_node[2026-08-26 19:05:08.358] [info] Received new action goal ×2 + 12.09sINFOros2_control_node[2026-08-26 19:05:08.358] [info] Accepted new action goal ×2 + 12.79sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073391 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073391 ms (missed cycles : 2).[0m ×2 + 13.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.91sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.91sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.94sERRORobjective_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: 1787771110.20934105 seconds ×3 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989913 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989913 ms (missed cycles : 2).[0m ×2 + 14.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787771111.00065184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 14.92sINFOros2_control_node[2026-08-26 19:05:11.184] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-08-26 19:05:11.184] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818162 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818162 ms (missed cycles : 2).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543488 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543488 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 54 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.973086 ms (missed cycles : 6). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.973086 ms (missed cycles : 6).[0m ×2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552416 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552416 ms (missed cycles : 3).[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 1 iterations (0.00269423 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 1 iterations (0.00555985 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747438 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747438 ms (missed cycles : 3).[0m ×2 + 8.65sINFOros2_control_node[2026-08-26 19:04:54.007] [info] Received new action goal ×2 + 8.65sINFOros2_control_node[2026-08-26 19:04:54.007] [info] Accepted new action goal ×2 + 9.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043434 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043434 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732463 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732463 ms (missed cycles : 3).[0m ×2 + 11.07sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.36sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787771096.73253560 seconds ×3 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153702 ms (missed cycles : 4). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153702 ms (missed cycles : 4).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723178 ms (missed cycles : 3). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723178 ms (missed cycles : 3).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953879 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953879 ms (missed cycles : 3).[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787771099.88994145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 14.77sINFOros2_control_node[2026-08-26 19:05:00.124] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-08-26 19:05:00.124] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088959 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088959 ms (missed cycles : 2).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453943 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453943 ms (missed cycles : 4).[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 5.868357 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868357 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030562 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030562 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441691 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441691 ms (missed cycles : 3).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433154 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433154 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.96sINFOobjective_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 + 3.96sERRORobjective_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: 1787771305.16532445 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724187 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724187 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787771305.79085875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.89sINFOros2_control_node[2026-08-26 19:08:26.092] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-26 19:08:26.092] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674925 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674925 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842970 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842970 ms (missed cycles : 5).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168441 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168441 ms (missed cycles : 2).[0m ×2 + 8.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688486 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688486 ms (missed cycles : 2).[0m ×2 + 8.90sINFOros2_control_node[2026-08-26 19:08:30.100] [info] Received new action goal ×2 + 8.90sINFOros2_control_node[2026-08-26 19:08:30.100] [info] Accepted new action goal ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928431 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928431 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686147 ms (missed cycles : 5). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686147 ms (missed cycles : 5).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750861 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750861 ms (missed cycles : 2).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015979 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015979 ms (missed cycles : 4).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2).[0m ×2 + 14.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 14.48sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787771315.68567896 seconds ×3 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698139 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698139 ms (missed cycles : 2).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787771316.28897262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 15.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.22sINFOros2_control_node[2026-08-26 19:08:36.423] [info] Received new action goal ×2 + 15.22sINFOros2_control_node[2026-08-26 19:08:36.423] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495564 ms (missed cycles : 6). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495564 ms (missed cycles : 6).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701832 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701832 ms (missed cycles : 3).[0m ×2 + 17.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.0s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787771122.93444633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787771122.99457836 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787771123.59432673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Accepted new action goal ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787771125.71445489 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422492 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422492 ms (missed cycles : 4).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787771127.31744504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135204 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135204 ms (missed cycles : 2).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864683 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864683 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_node[2026-08-26 19:05:28.942] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619359 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619359 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_node[0;93m2026-08-26 19:05:29.705892006 [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 + 6.77sINFOobjective_server_node[0;93m2026-08-26 19:05:29.705933936 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.81sINFOobjective_server_node[2026-08-26 19:05:30.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3).[0m ×2 + 8.32sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258192499 [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;93m2026-08-26 19:05:31.258224889 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.49sINFOobjective_server_node[2026-08-26 19:05:31.420] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.53sINFOobjective_server_node[0;93m2026-08-26 19:05:31.468673234 [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 + 8.54sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471503724 [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 + 8.54sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471526167 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.61sINFOobjective_server_node[2026-08-26 19:05:31.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.94sINFOobjective_server_node[0;93m2026-08-26 19:05:31.874267779 [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 + 8.97sINFOobjective_server_node[0;93m2026-08-26 19:05:31.898996795 [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 + 8.97sINFOobjective_server_node[0;93m2026-08-26 19:05:31.899025210 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2).[0m ×2 + 10.75sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787771133.68593740 seconds ×3 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2).[0m ×2 + 11.44sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787771134.37443638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.52sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 11.53sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 11.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.86sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Received new action goal ×2 + 11.86sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Accepted new action goal ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 32 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787771122.25938988 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787771122.93444633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787771122.99457836 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787771123.59432673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.55sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787771125.71445489 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422492 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422492 ms (missed cycles : 4).[0m ×2 + 7.16sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787771127.31744504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135204 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135204 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864683 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864683 ms (missed cycles : 2).[0m ×2 + 8.78sINFOobjective_server_node[2026-08-26 19:05:28.942] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619359 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619359 ms (missed cycles : 4).[0m ×2 + 9.55sINFOobjective_server_node[0;93m2026-08-26 19:05:29.705892006 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.55sINFOobjective_server_node[0;93m2026-08-26 19:05:29.705933936 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 565 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.28sINFOobjective_server_node[2026-08-26 19:03:58.501] [moveit_pro_license] [info] ×2 + 0.28sINFOobjective_server_node************************************************* ×4 + 0.28sINFOobjective_server_node* MoveIt Pro License ×2 + 0.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.43sINFOobjective_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 + 0.43sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.44sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.44sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.44sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.44sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.44sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.44sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.44sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.44sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.72sINFOcomponent_container_mt[2026-08-26 19:03:58.941] [moveit_pro_license] [info] ×2 + 0.72sINFOcomponent_container_mt************************************************* ×4 + 0.72sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.72sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.81sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.81sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.81sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.81sWARNros2_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 + 0.81sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.81sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.81sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.81sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.81sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.81sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.81sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.81sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.81sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.81sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.81sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.81sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.81sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.81sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.81sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.81sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.81sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.82sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.82sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.82sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.82sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.82sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.82sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.82sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.82sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.91sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.91sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.96sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.00sINFOros2_control_node[2026-08-26 19:03:59.218] [info] Controller state will be published at 20 Hz. ×2 + 1.00sINFOros2_control_node[2026-08-26 19:03:59.219] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.28sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.28sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.31sINFOros2-8process has finished cleanly [pid 9213] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026601 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026601 ms (missed cycles : 2).[0m ×2 + 1.36sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.36sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.40sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_node[2026-08-26 19:03:59.653] [info] Controller state will be published at 10 Hz. ×2 + 1.43sINFOros2_control_node[2026-08-26 19:03:59.654] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.44sINFOros2_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 + 1.44sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.44sWARNros2_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 + 1.71sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.72sINFOros2-7process has finished cleanly [pid 9212] ×2 + 1.72sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.72sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.73sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.73sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.78sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.78sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.78sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.80sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.80sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.97sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.12sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.12sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.12sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.12sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 2.12sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 2.13sINFOros2-3process has finished cleanly [pid 9208] ×2 + 2.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.17sINFOforce_torque_sensor_broadcasterconfigure successful + 2.17sINFOros2_control_nodeconfigure successful[0m ×2 + 2.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 2.50sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.50sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.50sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.51sINFOros2-2process has finished cleanly [pid 9207] ×2 + 2.59sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 2.59sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 2.63sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.63sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.64sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.64sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.66sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.66sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 2.66sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.93sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 2.93sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 2.94sINFOros2-6process has finished cleanly [pid 9211] ×2 + 2.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.98sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.98sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.98sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.98sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.99sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.99sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 3.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 3.32sINFOros2-4process has finished cleanly [pid 9209] ×2 + 3.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 3.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.71sINFOros2-5process has finished cleanly [pid 9210] ×2 + 4.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 7.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 7.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 31 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Canceling active goal... ×2 + 3.69sERRORobjective_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: 1787771339.17786765 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771339.78143167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771340.81157422 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787771341.40750146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787771341.40995479 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787771342.13574195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787771342.13636875 seconds ×3 + 7.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771342.73242497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2).[0m ×2 + 8.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.46sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 3.12sINFOobjective_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 + 3.12sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1787771057.18598866 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 100 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234340 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234340 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787771122.25938988 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4).[0m ×2 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787771122.93444633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787771122.99457836 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787771123.59432673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.19sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787771125.71445489 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 31 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Got request to cancel active goal. ×2 + 1.55sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1787771339.17786765 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771339.78143167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771340.81157422 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787771341.40750146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.78sINFOobjective_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 + 3.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787771341.40995479 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787771342.13574195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787771342.13636875 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771342.73242497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787771343.85255194 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865220 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865220 ms (missed cycles : 2).[0m ×2 + 6.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125266 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125266 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-26 19:04:33.197] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-26 19:04:33.197] [info] Accepted new action goal ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971603 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971603 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.81sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 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 1.842240 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1787771326.66928077 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 27 warnings · 439 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOros2-7process has finished cleanly [pid 9212] ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.26sWARNobjective_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 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_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 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 9208] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2-2process has finished cleanly [pid 9207] ×2 + 0.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.23sINFOros2-6process has finished cleanly [pid 9211] ×2 + 1.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.58sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.60sINFOros2-4process has finished cleanly [pid 9209] ×2 + 1.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 1.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.02sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 7.02sINFOros2_control_node[2026-08-26 19:04:06.960] [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 1.842240 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1787771326.66928077 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Got request to cancel active goal. ×2 + 1.55sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1787771339.17786765 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771339.78143167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771340.81157422 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787771341.40750146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.78sINFOobjective_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 + 3.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787771341.40995479 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787771342.13574195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787771342.13636875 seconds ×3 + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787771342.73242497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184301 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787771343.85255194 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865220 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865220 ms (missed cycles : 2).[0m ×2 + 6.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 20 warnings · 73 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sINFOobjective_server_node[2026-08-26 19:05:30.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258192499 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258224889 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.72sINFOobjective_server_node[2026-08-26 19:05:31.420] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 19:05:31.468673234 [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 + 0.77sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471503724 [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;93m2026-08-26 19:05:31.471526167 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 19:05:31.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sINFOobjective_server_node[0;93m2026-08-26 19:05:31.874267779 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.898996795 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.899025210 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787771133.68593740 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787771134.37443638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_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 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 2.13sERRORobjective_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: 1787771057.18598866 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_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 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 2.13sERRORobjective_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: 1787771057.18598866 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787771122.93444633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787771122.99457836 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787771123.59432673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Accepted new action goal ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6).[0m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010575 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787771125.71445489 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422492 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422492 ms (missed cycles : 4).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787771127.31744504 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135204 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135204 ms (missed cycles : 2).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864683 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864683 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_node[2026-08-26 19:05:28.942] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619359 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619359 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_node[0;93m2026-08-26 19:05:29.705892006 [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 + 6.77sINFOobjective_server_node[0;93m2026-08-26 19:05:29.705933936 [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 |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sINFOobjective_server_node[2026-08-26 19:05:30.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258192499 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258224889 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.72sINFOobjective_server_node[2026-08-26 19:05:31.420] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 19:05:31.468673234 [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 + 0.77sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471503724 [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;93m2026-08-26 19:05:31.471526167 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 19:05:31.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sINFOobjective_server_node[0;93m2026-08-26 19:05:31.874267779 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.898996795 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.899025210 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787771133.68593740 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787771134.37443638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-26 19:06:24.368] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-26 19:06:24.368] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950602 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950602 ms (missed cycles : 3).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156968 ms (missed cycles : 7). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.156968 ms (missed cycles : 7).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727840 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727840 ms (missed cycles : 5).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004714 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004714 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787771187.97415805 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787771188.57964969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054552 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054552 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.50sINFOros2_control_node[2026-08-26 19:06:28.743] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-26 19:06:28.743] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058868 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058868 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sWARNros2_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 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480626 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480626 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787771283.04541993 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787771283.72677326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762697 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737921 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354329 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787771283.04541993 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797204 ms (missed cycles : 5).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787771283.72677326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-26 19:08:03.958] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170707 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.694618 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[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 5.868357 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868357 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030562 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030562 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441691 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441691 ms (missed cycles : 3).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433154 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433154 ms (missed cycles : 2).[0m ×2 + 3.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.96sINFOobjective_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 + 3.96sERRORobjective_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: 1787771305.16532445 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724187 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724187 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787771305.79085875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.89sINFOros2_control_node[2026-08-26 19:08:26.092] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-26 19:08:26.092] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674925 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674925 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842970 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842970 ms (missed cycles : 5).[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 1.882783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Canceling active goal... ×2 + 3.69sERRORobjective_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: 1787771339.17786765 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771339.78143167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771340.81157422 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787771341.40750146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787771341.40995479 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 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 1.882783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848381 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056165 ms (missed cycles : 2).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141656 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Got request to cancel active goal. ×2 + 3.69sINFOros2_control_node[2026-08-26 19:08:59.171] [info] Canceling active goal... ×2 + 3.69sERRORobjective_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: 1787771339.17786765 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164234 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787771339.78143167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787771340.81157422 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387869 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787771341.40750146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787771341.40995479 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302127 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.46sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 3.12sINFOobjective_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 + 3.12sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1787771057.18598866 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724664 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.44sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.46sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 3.12sINFOobjective_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 + 3.12sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 3.14sERRORobjective_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: 1787771057.18598866 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.74sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_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 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 2.13sERRORobjective_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: 1787771057.18598866 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.595251 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543347 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-26 19:04:16.501] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.745514 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_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 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-08-26 19:04:17.164] [info] Canceling active goal... ×2 + 2.13sERRORobjective_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: 1787771057.18598866 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787771057.82065463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787771057.94134760 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195611 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787771058.57510495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-26 19:04:18.778] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751070 ms (missed cycles : 3).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.330245 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789727 ms (missed cycles : 3).[0m ×2 + 0.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.79sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 19:04:35.130] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216944 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787771076.51614904 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234391 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787771077.13661337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787771077.21672893 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375842 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787771077.88212419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-26 19:04:38.006] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755651 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 17 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731333 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-26 19:04:46.077] [info] Accepted new action goal ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723377 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901402 ms (missed cycles : 2).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Got request to cancel active goal. ×2 + 2.92sINFOros2_control_node[2026-08-26 19:04:48.272] [info] Canceling active goal... ×2 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787771088.27813458 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787771088.92050886 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559404 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-26 19:04:49.114] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 80 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719100 ms (missed cycles : 4). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719100 ms (missed cycles : 4).[0m ×2 + 0.97sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.97sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.98sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 0.98sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.99sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.10sINFOobjective_server_nodeFound path in 1 iterations (0.00341583 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOros2_control_node[2026-08-26 19:05:07.926] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-08-26 19:05:07.926] [info] Accepted new action goal ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441426 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441426 ms (missed cycles : 2).[0m ×2 + 1.77sINFOros2_control_node[2026-08-26 19:05:08.358] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-26 19:05:08.358] [info] Accepted new action goal ×2 + 2.47sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073391 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073391 ms (missed cycles : 2).[0m ×2 + 3.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.59sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sERRORobjective_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: 1787771110.20934105 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989913 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989913 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787771111.00065184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.60sINFOros2_control_node[2026-08-26 19:05:11.184] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-26 19:05:11.184] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818162 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818162 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543488 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543488 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 97 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234340 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234340 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958917 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357757 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787771122.25938988 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056256 ms (missed cycles : 4).[0m ×2 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787771122.93444633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787771122.99457836 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710868 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787771123.59432673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.19sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-08-26 19:05:23.709] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374820 ms (missed cycles : 6).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sINFOobjective_server_node[2026-08-26 19:05:30.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258192499 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258224889 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.72sINFOobjective_server_node[2026-08-26 19:05:31.420] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 19:05:31.468673234 [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 + 0.77sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471503724 [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;93m2026-08-26 19:05:31.471526167 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 19:05:31.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sINFOobjective_server_node[0;93m2026-08-26 19:05:31.874267779 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.898996795 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.899025210 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787771133.68593740 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787771134.37443638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sINFOobjective_server_node[2026-08-26 19:05:30.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258192499 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258224889 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.72sINFOobjective_server_node[2026-08-26 19:05:31.420] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 19:05:31.468673234 [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 + 0.77sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471503724 [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;93m2026-08-26 19:05:31.471526167 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 19:05:31.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sINFOobjective_server_node[0;93m2026-08-26 19:05:31.874267779 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.898996795 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.899025210 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787771133.68593740 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787771134.37443638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sINFOobjective_server_node[2026-08-26 19:05:30.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993089 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258192499 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-26 19:05:31.258224889 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.72sINFOobjective_server_node[2026-08-26 19:05:31.420] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-26 19:05:31.468673234 [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 + 0.77sINFOobjective_server_node[0;93m2026-08-26 19:05:31.471503724 [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;93m2026-08-26 19:05:31.471526167 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-26 19:05:31.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sINFOobjective_server_node[0;93m2026-08-26 19:05:31.874267779 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.898996795 [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 + 1.19sINFOobjective_server_node[0;93m2026-08-26 19:05:31.899025210 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.882791 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019555 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787771133.68593740 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030491 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787771134.37443638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_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 + 3.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-26 19:05:34.792] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837084 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065253 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2589 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6).[0m ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787771254.49287939 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2). + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787771255.13668823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2).[0m ×2 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOobjective_server_nodeFound path in 5 iterations (0.00767109 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.92sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2589 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199803 ms (missed cycles : 2).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352027 ms (missed cycles : 6).[0m ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.318307 ms (missed cycles : 7).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103080 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787771254.49287939 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2). + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787771255.13668823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992805 ms (missed cycles : 2).[0m ×2 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sINFOobjective_server_nodeFound path in 5 iterations (0.00767109 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.92sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-26 19:07:35.432] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166819 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446931 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102818 ms (missed cycles : 5).[0m ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-26 19:08:10.896] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344784 ms (missed cycles : 2).[0m ×2 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182027 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-26 19:08:12.811] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921156 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-26 19:08:14.167] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1787771294.17203569 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045383 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787771294.84494615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-26 19:08:15.028] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530965 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469740 ms (missed cycles : 5).[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 6.686147 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686147 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750861 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750861 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015979 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015979 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787771315.68567896 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698139 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698139 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787771316.28897262 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-26 19:08:36.423] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-26 19:08:36.423] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495564 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495564 ms (missed cycles : 6).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701832 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701832 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_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 1.842240 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1787771326.66928077 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[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 1.842240 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1787771326.66928077 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[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 1.842240 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1787771326.66928077 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[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 1.842240 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842240 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 3.03sINFOobjective_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 + 3.04sERRORobjective_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: 1787771326.66928077 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_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 + 4.39sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[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 2.459772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 1.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sERRORobjective_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: 1787771326.66928077 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4).[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 2.459772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 1.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sERRORobjective_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: 1787771326.66928077 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4).[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 2.459772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459772 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.642358 ms (missed cycles : 6).[0m ×2 + 1.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sERRORobjective_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: 1787771326.66928077 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742089 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787771327.32654929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787771327.39667106 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064528 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787771327.99425578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787771328.01645613 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787771328.73092937 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-26 19:08:48.864] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141854 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296734 ms (missed cycles : 4).[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 | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.9s | 40 warnings · 623 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-26-19-03-52-754287-a45fdfacfcd9-9158 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.81sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.81sINFOcontroller_managerupdate rate is 600 Hz + 1.81sINFOcontroller_managerOverruns handling is : enabled + 1.81sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.81sWARNcontroller_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. + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306487 ms (missed cycles : 5). + 2.02sINFOros2_control_node-1process started with pid [9206] ×2 + 2.02sINFOmove_group-9process started with pid [9243] ×2 + 2.02sINFOparameter_manager_node-10process started with pid [9244] ×2 + 2.02sINFOwaypoint_manager_node-11process started with pid [9245] ×2 + 2.02sINFOmove_joint_resampler_node-12process started with pid [9246] ×2 + 2.02sINFOmove_end_effector_resampler_node-13process started with pid [9247] ×2 + 2.02sINFOobjective_server_node_main-14process started with pid [9248] ×2 + 2.02sINFOcomponent_container_mt-15process started with pid [9249] ×2 + 2.02sINFOcomponent_container_mt-16process started with pid [9250] ×2 + 2.02sINFOexecute_objective_bridge-17process started with pid [9251] ×2 + 2.02sINFOui_teleop_bridge-18process started with pid [9252] ×2 + 2.02sINFOweb_bridge-19process started with pid [9253] ×2 + 2.02sINFOtf2_web_republisher_node-20process started with pid [9317] ×2 + 2.02sINFOvideo_server-21process started with pid [9318] ×2 + 2.02sINFOweb_bridge_auth_proxy-22process started with pid [9319] ×2 + 2.02sINFOweb_video_auth_proxy-23process started with pid [9320] ×2 + 2.04sINFOros2-2process started with pid [9207] ×2 + 2.04sINFOros2-3process started with pid [9208] ×2 + 2.04sINFOros2-4process started with pid [9209] ×2 + 2.04sINFOros2-5process started with pid [9210] ×2 + 2.04sINFOros2-6process started with pid [9211] ×2 + 2.04sINFOros2-7process started with pid [9212] ×2 + 2.04sINFOros2-8process started with pid [9213] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.09sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.09sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.09sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.09sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.09sWARNros2_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 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306487 ms (missed cycles : 5).[0m ×2 + 2.09sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.09sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.09sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.27sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.42sINFOvideo_server2026/08/26 19:03:55 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/26 19:03:55 INF configuration loaded from /tmp/moveit-webrtc-5breo_cw/mediamtx.yml ×2 + 2.43sINFOvideo_server2026/08/26 19:03:55 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.43sINFOvideo_server2026/08/26 19:03:55 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545969 ms (missed cycles : 4). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545969 ms (missed cycles : 4).[0m ×2 + 3.39sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.39sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.39sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.39sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.43sINFOros2_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 + 3.43sINFOros2_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 + 3.44sINFOmove_group[2026-08-26 19:03:56.936] [moveit_pro_license] [info] ×2 + 3.44sINFOmove_group************************************************* ×4 + 3.44sINFOmove_group* MoveIt Pro License ×2 + 3.44sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.56sINFOwaypoint_manager_node[2026-08-26 19:03:57.057] [moveit_pro_license] [info] ×2 + 3.56sINFOwaypoint_manager_node************************************************* ×4 + 3.56sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.56sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.67sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.80sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.80sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.82sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.87sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.87sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.87sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.93sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.99sINFOmove_group ×4 + 3.99sINFOmove_group[92mYou can start planning now![0m ×2 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200502 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200502 ms (missed cycles : 2).[0m ×2 + 4.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.00sINFOobjective_server_node[2026-08-26 19:03:58.501] [moveit_pro_license] [info] ×2 + 5.00sINFOobjective_server_node************************************************* ×4 + 5.00sINFOobjective_server_node* MoveIt Pro License ×2 + 5.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.15sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.15sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.16sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.16sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.16sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.16sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.16sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.16sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.16sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.16sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.44sINFOcomponent_container_mt[2026-08-26 19:03:58.941] [moveit_pro_license] [info] ×2 + 5.44sINFOcomponent_container_mt************************************************* ×4 + 5.44sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.44sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.53sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.53sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.54sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.54sWARNros2_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 + 5.54sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.54sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.54sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.54sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.54sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.54sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.54sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.54sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.54sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.54sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.54sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.54sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.56sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.66sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 5.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 5.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.68sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.72sINFOros2_control_node[2026-08-26 19:03:59.218] [info] Controller state will be published at 20 Hz. ×2 + 5.72sINFOros2_control_node[2026-08-26 19:03:59.219] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.03sINFOros2-8process has finished cleanly [pid 9213] ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026601 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026601 ms (missed cycles : 2).[0m ×2 + 6.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 6.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 6.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.15sINFOros2_control_node[2026-08-26 19:03:59.653] [info] Controller state will be published at 10 Hz. ×2 + 6.15sINFOros2_control_node[2026-08-26 19:03:59.654] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.17sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 6.17sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.17sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 6.44sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.44sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.44sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.44sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.44sINFOros2-7process has finished cleanly [pid 9212] ×2 + 6.44sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 6.44sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 6.45sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.45sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.51sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.51sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.70sWARNobjective_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 + 6.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 6.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 6.85sINFOros2-3process has finished cleanly [pid 9208] ×2 + 6.89sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.89sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.89sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.89sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.90sINFOforce_torque_sensor_broadcasterconfigure successful + 6.90sINFOros2_control_nodeconfigure successful[0m ×2 + 6.90sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.90sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 7.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.24sINFOros2-2process has finished cleanly [pid 9207] ×2 + 7.31sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 7.31sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 7.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.36sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.36sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.38sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.38sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 7.39sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 7.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 7.66sINFOros2-6process has finished cleanly [pid 9211] ×2 + 7.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.71sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 8.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 8.04sINFOros2-4process has finished cleanly [pid 9209] ×2 + 8.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 8.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 8.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 8.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 8.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 8.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 8.13sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 8.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.43sINFOros2-5process has finished cleanly [pid 9210] ×2 + 8.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 9.70sWARNros2_control_nodeCamera render tick took 1.82 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 + 9.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 10.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 11.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 11.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.01sINFOros2-6process has finished cleanly [pid 9211] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 9209] ×2 + 0.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.48sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOros2-5process has finished cleanly [pid 9210] ×2 + 1.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 2.05sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.18sINFOros2-2process has finished cleanly [pid 9207] ×2 + 0.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.30sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.30sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.31sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.31sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.33sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.33sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 0.33sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.60sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.60sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 9211] ×2 + 0.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.65sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.65sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.65sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.65sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.65sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.66sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.96sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.96sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.96sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.96sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.99sINFOros2-4process has finished cleanly [pid 9209] ×2 + 1.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 1.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.38sINFOros2-5process has finished cleanly [pid 9210] ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 2.65sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_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 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.41sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.01sINFOros2-6process has finished cleanly [pid 9211] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 9209] ×2 + 0.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.48sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOros2-5process has finished cleanly [pid 9210] ×2 + 1.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 2.05sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 410 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOros2-7process has finished cleanly [pid 9212] ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.26sWARNobjective_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 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_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 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 9208] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2-2process has finished cleanly [pid 9207] ×2 + 0.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.23sINFOros2-6process has finished cleanly [pid 9211] ×2 + 1.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.58sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.60sINFOros2-4process has finished cleanly [pid 9209] ×2 + 1.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 1.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-26-19-03-52-754287-a45fdfacfcd9-9158 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.81sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.81sINFOcontroller_managerupdate rate is 600 Hz + 1.81sINFOcontroller_managerOverruns handling is : enabled + 1.81sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.81sWARNcontroller_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. + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306487 ms (missed cycles : 5). + 2.02sINFOros2_control_node-1process started with pid [9206] ×2 + 2.02sINFOmove_group-9process started with pid [9243] ×2 + 2.02sINFOparameter_manager_node-10process started with pid [9244] ×2 + 2.02sINFOwaypoint_manager_node-11process started with pid [9245] ×2 + 2.02sINFOmove_joint_resampler_node-12process started with pid [9246] ×2 + 2.02sINFOmove_end_effector_resampler_node-13process started with pid [9247] ×2 + 2.02sINFOobjective_server_node_main-14process started with pid [9248] ×2 + 2.02sINFOcomponent_container_mt-15process started with pid [9249] ×2 + 2.02sINFOcomponent_container_mt-16process started with pid [9250] ×2 + 2.02sINFOexecute_objective_bridge-17process started with pid [9251] ×2 + 2.02sINFOui_teleop_bridge-18process started with pid [9252] ×2 + 2.02sINFOweb_bridge-19process started with pid [9253] ×2 + 2.02sINFOtf2_web_republisher_node-20process started with pid [9317] ×2 + 2.02sINFOvideo_server-21process started with pid [9318] ×2 + 2.02sINFOweb_bridge_auth_proxy-22process started with pid [9319] ×2 + 2.02sINFOweb_video_auth_proxy-23process started with pid [9320] ×2 + 2.04sINFOros2-2process started with pid [9207] ×2 + 2.04sINFOros2-3process started with pid [9208] ×2 + 2.04sINFOros2-4process started with pid [9209] ×2 + 2.04sINFOros2-5process started with pid [9210] ×2 + 2.04sINFOros2-6process started with pid [9211] ×2 + 2.04sINFOros2-7process started with pid [9212] ×2 + 2.04sINFOros2-8process started with pid [9213] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.09sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.09sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.09sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.09sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.09sWARNros2_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 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306487 ms (missed cycles : 5).[0m ×2 + 2.09sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.09sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.09sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.27sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.42sINFOvideo_server2026/08/26 19:03:55 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/26 19:03:55 INF configuration loaded from /tmp/moveit-webrtc-5breo_cw/mediamtx.yml ×2 + 2.43sINFOvideo_server2026/08/26 19:03:55 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.43sINFOvideo_server2026/08/26 19:03:55 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 410 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOros2-7process has finished cleanly [pid 9212] ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.26sWARNobjective_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 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_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 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 9208] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2-2process has finished cleanly [pid 9207] ×2 + 0.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.23sINFOros2-6process has finished cleanly [pid 9211] ×2 + 1.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.58sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.60sINFOros2-4process has finished cleanly [pid 9209] ×2 + 1.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 1.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 410 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOros2-7process has finished cleanly [pid 9212] ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.26sWARNobjective_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 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_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 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 9208] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.80sINFOros2-2process has finished cleanly [pid 9207] ×2 + 0.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.23sINFOros2-6process has finished cleanly [pid 9211] ×2 + 1.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.58sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 1.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 1.60sINFOros2-4process has finished cleanly [pid 9209] ×2 + 1.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 1.70sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.70sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 5.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117519 ms (missed cycles : 5).[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.18sINFOros2-2process has finished cleanly [pid 9207] ×2 + 0.26sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.26sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.30sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.30sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.31sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.31sINFOros2_control_node[2026-08-26 19:04:00.857] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.31sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.33sINFOros2_control_node[2026-08-26 19:04:00.879] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.33sINFOros2_control_node[2026-08-26 19:04:00.879] [info] Controller state will be published at 50 Hz. ×2 + 0.33sINFOros2_control_node[2026-08-26 19:04:00.885] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.60sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.60sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 9211] ×2 + 0.64sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.65sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.65sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.65sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.65sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.65sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.66sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.96sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.96sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.96sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.96sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd + 0.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c7vh0602 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n9ckatsk --params-file /tmp/launch_params_35gj59qd [0m ×2 + 0.99sINFOros2-4process has finished cleanly [pid 9209] ×2 + 1.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787771041.62274766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787771041.63297391 seconds ×3 + 1.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.38sINFOros2-5process has finished cleanly [pid 9210] ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 2.65sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_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 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.41sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 231 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 + 7.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sINFOros2-5process has finished cleanly [pid 9210] ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787771042.23469114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104891 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787771043.29482770 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418487 ms (missed cycles : 3).[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787771043.90737081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787771043.96754122 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787771044.61828637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455411 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787771044.63840199 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787771045.35053420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787771045.50106573 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032650 ms (missed cycles : 4).[0m ×2 + 3.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787771046.17609525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787771046.22620821 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.064746 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787771046.83412719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.1142e-05 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 19:04:06.960] [info] Accepted new action goal ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510877 ms (missed cycles : 3).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016733 ms (missed cycles : 2).[0m ×2 | ||||