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 | 164 warnings · 18312 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 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-25 23:47:20.812] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-25 23:47:20.812] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739070 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739070 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811561 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811561 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352209 ms (missed cycles : 6). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352209 ms (missed cycles : 6).[0m ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947924 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947924 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787701644.41787148 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787701645.05088329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.78e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.48sINFOros2_control_node[2026-08-25 23:47:25.174] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-25 23:47:25.174] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105997 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105997 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604869 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604869 ms (missed cycles : 3).[0m ×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 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155187 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155187 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124053 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124053 ms (missed cycles : 2).[0m ×2 + 8.06sINFOjoint_trajectory_controllerReceived new action goal ×3010 + 8.06sINFOjoint_trajectory_controllerAccepted new action goal ×3010 + 8.07sINFOros2_control_nodeReceived new action goal[0m ×6020 + 8.07sINFOros2_control_nodeAccepted new action goal[0m ×6020 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492740 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492740 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258162 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258162 ms (missed cycles : 2).[0m ×2 + 10.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749689 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749689 ms (missed cycles : 2).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450359 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450359 ms (missed cycles : 2).[0m ×2 + 12.82sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.82sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.82sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.83sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428011 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428011 ms (missed cycles : 2).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007432 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007432 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471391 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471391 ms (missed cycles : 2).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423459 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423459 ms (missed cycles : 2).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667473 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667473 ms (missed cycles : 2).[0m ×2 + 17.64sWARNros2_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 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942874 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942874 ms (missed cycles : 2).[0m ×2 + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858165 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858165 ms (missed cycles : 2).[0m ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241839 ms (missed cycles : 4). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241839 ms (missed cycles : 4).[0m ×2 + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003147 ms (missed cycles : 2). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003147 ms (missed cycles : 2).[0m ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675526 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675526 ms (missed cycles : 2).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719440 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719440 ms (missed cycles : 2).[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890959 ms (missed cycles : 2). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890959 ms (missed cycles : 2).[0m ×2 + 24.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696696 ms (missed cycles : 2). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696696 ms (missed cycles : 2).[0m ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835448 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835448 ms (missed cycles : 2).[0m ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012643 ms (missed cycles : 2). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012643 ms (missed cycles : 2).[0m ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678105 ms (missed cycles : 2). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678105 ms (missed cycles : 2).[0m ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870560 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870560 ms (missed cycles : 2).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981583 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981583 ms (missed cycles : 2).[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318757 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318757 ms (missed cycles : 2).[0m ×2 + 31.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044596 ms (missed cycles : 2). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044596 ms (missed cycles : 2).[0m ×2 + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764202 ms (missed cycles : 2). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764202 ms (missed cycles : 2).[0m ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375797 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375797 ms (missed cycles : 2).[0m ×2 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869527 ms (missed cycles : 2). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869527 ms (missed cycles : 2).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995338 ms (missed cycles : 4). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995338 ms (missed cycles : 4).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397108 ms (missed cycles : 6). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397108 ms (missed cycles : 6).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848033 ms (missed cycles : 2). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848033 ms (missed cycles : 2).[0m ×2 + 39.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309325 ms (missed cycles : 2). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309325 ms (missed cycles : 2).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816207 ms (missed cycles : 2). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816207 ms (missed cycles : 2).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746636 ms (missed cycles : 3). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746636 ms (missed cycles : 3).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902630 ms (missed cycles : 2). + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902630 ms (missed cycles : 2).[0m ×2 + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855478 ms (missed cycles : 2). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855478 ms (missed cycles : 2).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989088 ms (missed cycles : 2). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989088 ms (missed cycles : 2).[0m ×2 + 45.64sWARNros2_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 + 45.78sINFOros2_control_nodeMuJoCo sim: 0.51% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676006 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676006 ms (missed cycles : 2).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547470 ms (missed cycles : 3). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547470 ms (missed cycles : 3).[0m ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146980 ms (missed cycles : 2). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146980 ms (missed cycles : 2).[0m ×2 + 48.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787701688.81039596 seconds ×3 + 48.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.14sINFOros2_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 + 48.75sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787701689.44282746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.80sINFOobjective_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 + 48.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365699 ms (missed cycles : 2). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365699 ms (missed cycles : 2).[0m ×2 + 48.91sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 48.92sINFOros2_control_node[2026-08-25 23:48:09.606] [info] Received new action goal ×2 + 48.92sINFOros2_control_node[2026-08-25 23:48:09.606] [info] Accepted new action goal ×2 + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536141 ms (missed cycles : 4). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536141 ms (missed cycles : 4).[0m ×2 + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050816 ms (missed cycles : 2). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050816 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 156 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_node[2026-08-25 23:46:26.591] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142125556 [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 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142158908 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_node[2026-08-25 23:46:27.312] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-25 23:46:27.375816528 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379052236 [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 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379078571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.27sINFOobjective_server_node[2026-08-25 23:46:27.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-08-25 23:46:27.859851458 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884143675 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884173846 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787701589.80184340 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787701590.48162699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.39sINFOobjective_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 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2).[0m ×2 + 7.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×6 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 7.60sINFOros2_control_node[2026-08-25 23:46:33.776] [info] Received new action goal ×2 + 7.60sINFOros2_control_node[2026-08-25 23:46:33.776] [info] Accepted new action goal ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050652 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050652 ms (missed cycles : 3).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838449 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838449 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003594 ms (missed cycles : 5). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.003594 ms (missed cycles : 5).[0m ×2 + 10.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.78sINFOros2_control_node[2026-08-25 23:46:36.956] [info] Received new action goal ×2 + 10.78sINFOros2_control_node[2026-08-25 23:46:36.956] [info] Accepted new action goal ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869963 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869963 ms (missed cycles : 2).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677582 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677582 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838149 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838149 ms (missed cycles : 2).[0m ×2 + 13.75sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 13.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.81sINFOros2_control_node[2026-08-25 23:46:39.989] [info] Received new action goal ×2 + 13.81sINFOros2_control_node[2026-08-25 23:46:39.989] [info] Accepted new action goal ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437124 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437124 ms (missed cycles : 2).[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030787 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030787 ms (missed cycles : 2).[0m ×2 + 16.77sINFOobjective_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 + 16.77sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.77sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.77sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.78sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785084 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785084 ms (missed cycles : 2).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016331 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016331 ms (missed cycles : 2).[0m ×2 + 19.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348009 ms (missed cycles : 3). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348009 ms (missed cycles : 3).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881488 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881488 ms (missed cycles : 2).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273509 ms (missed cycles : 4). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273509 ms (missed cycles : 4).[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306319 ms (missed cycles : 2). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306319 ms (missed cycles : 2).[0m ×2 + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.283485 ms (missed cycles : 8). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.283485 ms (missed cycles : 8).[0m ×2 + 24.30sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.30sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.30sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.30sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.30sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757464 ms (missed cycles : 3). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757464 ms (missed cycles : 3).[0m ×2 + 25.18sINFOros2_control_node[2026-08-25 23:46:51.365] [info] Received new action goal ×2 + 25.19sINFOros2_control_node[2026-08-25 23:46:51.366] [info] Accepted new action goal ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921282 ms (missed cycles : 2). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921282 ms (missed cycles : 2).[0m ×2 + 26.37sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.38sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.66sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 26.72sINFOros2_control_node[2026-08-25 23:46:52.899] [info] Received new action goal ×2 + 26.72sINFOros2_control_node[2026-08-25 23:46:52.899] [info] Accepted new action goal ×2 + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041200 ms (missed cycles : 4). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041200 ms (missed cycles : 4).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120120 ms (missed cycles : 4). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120120 ms (missed cycles : 4).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236926 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236926 ms (missed cycles : 2).[0m ×2 + 29.01sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 29.01sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.02sINFOros2_control_node[2026-08-25 23:46:55.205] [info] Received new action goal ×2 + 29.02sINFOros2_control_node[2026-08-25 23:46:55.205] [info] Accepted new action goal ×2 + 29.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731801 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731801 ms (missed cycles : 2).[0m ×2 + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158774 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158774 ms (missed cycles : 2).[0m ×2 + 32.06sINFOros2_control_node[2026-08-25 23:46:58.237] [info] Received new action goal ×2 + 32.06sINFOros2_control_node[2026-08-25 23:46:58.237] [info] Accepted new action goal ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713750 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713750 ms (missed cycles : 2).[0m ×2 + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969322 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969322 ms (missed cycles : 2).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965639 ms (missed cycles : 3). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965639 ms (missed cycles : 3).[0m ×2 + 34.65sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 34.65sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.70sINFOros2_control_node[2026-08-25 23:47:00.879] [info] Received new action goal ×2 + 34.70sINFOros2_control_node[2026-08-25 23:47:00.879] [info] Accepted new action goal ×2 + 34.96sWARNros2_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 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736983 ms (missed cycles : 2). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736983 ms (missed cycles : 2).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461508 ms (missed cycles : 3). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461508 ms (missed cycles : 3).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673374 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673374 ms (missed cycles : 2).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293131 ms (missed cycles : 2). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293131 ms (missed cycles : 2).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214995 ms (missed cycles : 4). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214995 ms (missed cycles : 4).[0m ×2 + 40.29sINFOros2_control_nodeMuJoCo sim: 0.52% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033112 ms (missed cycles : 2). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033112 ms (missed cycles : 2).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470181 ms (missed cycles : 3). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470181 ms (missed cycles : 3).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849235 ms (missed cycles : 2). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849235 ms (missed cycles : 2).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151866 ms (missed cycles : 4). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151866 ms (missed cycles : 4).[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648126 ms (missed cycles : 3). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648126 ms (missed cycles : 3).[0m ×2 + 45.35sINFOros2_control_node[2026-08-25 23:47:11.528] [info] Received new action goal ×2 + 45.35sINFOros2_control_node[2026-08-25 23:47:11.528] [info] Accepted new action goal ×2 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684833 ms (missed cycles : 2). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684833 ms (missed cycles : 2).[0m ×2 + 46.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787701632.68186736 seconds ×3 + 46.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 47.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787701633.49770570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217640 ms (missed cycles : 2). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217640 ms (missed cycles : 2).[0m ×2 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902698 ms (missed cycles : 3). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902698 ms (missed cycles : 3).[0m ×2 + 48.49sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 48.51sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.52sINFOros2_control_node[2026-08-25 23:47:14.703] [info] Received new action goal ×2 + 48.52sINFOros2_control_node[2026-08-25 23:47:14.703] [info] Accepted new action goal ×2 + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516938 ms (missed cycles : 4). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516938 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 27.6s | 105 warnings · 2569 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×394 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×394 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×788 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×788 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6).[0m ×2 + 1.31sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787701710.94172573 seconds ×3 + 3.94sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.94sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787701711.57825780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.64sINFOobjective_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 + 4.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOobjective_server_nodeFound path in 5 iterations (0.00623201 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.83sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3).[0m ×2 + 6.87sWARNros2_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 7.626267 ms (missed cycles : 5). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626267 ms (missed cycles : 5).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402703 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402703 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189862 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189862 ms (missed cycles : 5).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679659 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679659 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225782 ms (missed cycles : 5). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225782 ms (missed cycles : 5).[0m ×2 + 11.88sWARNros2_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 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683254 ms (missed cycles : 6). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.683254 ms (missed cycles : 6).[0m ×2 + 13.68sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.552274 ms (missed cycles : 6). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.552274 ms (missed cycles : 6).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513877 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513877 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.460148 ms (missed cycles : 7). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.460148 ms (missed cycles : 7).[0m ×2 + 17.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 17.33sINFOobjective_server_nodeFound path in 4 iterations (0.00327984 s). ×2 + 17.41sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 17.45sINFOobjective_server_nodeFound path in 12 iterations (0.00685615 s). ×2 + 17.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 17.55sINFOobjective_server_nodeFound path in 1 iterations (0.00312471 s). ×2 + 17.61sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 17.63sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 17.67sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 17.68sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 17.72sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 17.74sINFOobjective_server_nodeFound path in 8 iterations (0.0039915 s). ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.050257 ms (missed cycles : 8). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.050257 ms (missed cycles : 8).[0m ×2 + 17.81sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 17.83sINFOobjective_server_nodeFound path in 2 iterations (0.00535314 s). ×2 + 17.88sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 17.90sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 17.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 17.97sINFOobjective_server_nodeFound path in 4 iterations (0.0067144 s). ×2 + 18.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.10sINFOobjective_server_nodeFound path in 4 iterations (0.0042815 s). ×2 + 18.21sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 18.24sINFOobjective_server_nodeFound path in 1 iterations (0.00594453 s). ×2 + 18.30sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 18.33sINFOobjective_server_nodeFound path in 1 iterations (0.00311426 s). ×2 + 18.43sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 18.45sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 18.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 18.52sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 18.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X] ×2 + 18.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 18.84sINFOros2_control_node[2026-08-25 23:48:45.847] [info] Received new action goal ×2 + 18.84sINFOros2_control_node[2026-08-25 23:48:45.847] [info] Accepted new action goal ×2 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.367767 ms (missed cycles : 6). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.367767 ms (missed cycles : 6).[0m ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940095 ms (missed cycles : 2). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940095 ms (missed cycles : 2).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995976 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995976 ms (missed cycles : 3).[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179254 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179254 ms (missed cycles : 2).[0m ×2 + 22.96sWARNros2_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 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.268984 ms (missed cycles : 5). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.268984 ms (missed cycles : 5).[0m ×2 + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845053 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845053 ms (missed cycles : 2).[0m ×2 + 24.93sINFOros2_control_node[2026-08-25 23:48:51.940] [info] Received new action goal ×2 + 24.93sINFOros2_control_node[2026-08-25 23:48:51.940] [info] Accepted new action goal ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553819 ms (missed cycles : 5). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553819 ms (missed cycles : 5).[0m ×2 + 26.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.28sINFOros2_control_node[2026-08-25 23:48:53.291] [info] Received new action goal ×2 + 26.28sINFOros2_control_node[2026-08-25 23:48:53.291] [info] Accepted new action goal ×2 + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677765 ms (missed cycles : 6). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677765 ms (missed cycles : 6).[0m ×2 + 27.31sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.34sINFOros2_control_node[2026-08-25 23:48:54.353] [info] Received new action goal ×2 + 27.34sINFOros2_control_node[2026-08-25 23:48:54.353] [info] Accepted new action goal ×2 + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2).[0m ×2 + 29.02sWARNros2_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 + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4).[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2).[0m ×2 + 31.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787701738.55845284 seconds ×3 + 31.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 31.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 31.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 31.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 31.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 31.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787701739.24711514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2).[0m ×2 + 32.45sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 32.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 32.46sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Received new action goal ×2 + 32.46sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Accepted new action goal ×2 + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4).[0m ×2 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2).[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 | 94 warnings · 13390 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2205 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2205 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4410 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4410 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989088 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989088 ms (missed cycles : 2).[0m ×2 + 1.45sWARNros2_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 + 1.59sINFOros2_control_nodeMuJoCo sim: 0.51% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676006 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676006 ms (missed cycles : 2).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547470 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547470 ms (missed cycles : 3).[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146980 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146980 ms (missed cycles : 2).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.93sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.93sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787701688.81039596 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787701689.44282746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_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 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365699 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365699 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.73sINFOros2_control_node[2026-08-25 23:48:09.606] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 23:48:09.606] [info] Accepted new action goal ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536141 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536141 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.04sINFOobjective_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 + 6.06sINFOobjective_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 + 6.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050816 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050816 ms (missed cycles : 2).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418567 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418567 ms (missed cycles : 2).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777244 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777244 ms (missed cycles : 2).[0m ×2 + 9.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543555 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543555 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035443 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035443 ms (missed cycles : 2).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713237 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713237 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897545 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897545 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641896 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641896 ms (missed cycles : 2).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443070 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443070 ms (missed cycles : 2).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665585 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665585 ms (missed cycles : 2).[0m ×2 + 16.45sWARNros2_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 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927870 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927870 ms (missed cycles : 2).[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133985 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133985 ms (missed cycles : 2).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171386 ms (missed cycles : 2). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171386 ms (missed cycles : 2).[0m ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232291 ms (missed cycles : 2). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232291 ms (missed cycles : 2).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770312 ms (missed cycles : 2). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770312 ms (missed cycles : 2).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784232 ms (missed cycles : 2). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784232 ms (missed cycles : 2).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6).[0m ×2 + 23.44sWARNros2_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 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2).[0m ×2 + 26.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787701710.94172573 seconds ×3 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5).[0m ×2 + 26.70sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787701711.57825780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.87sINFOobjective_server_nodeFound path in 5 iterations (0.00623201 s). ×2 + 26.94sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.95sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Received new action goal ×2 + 26.95sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Accepted new action goal ×2 + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3).[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3).[0m ×2 + 29.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 17.0s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.45sWARNros2_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 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637350 ms (missed cycles : 6). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637350 ms (missed cycles : 6).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463435 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463435 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282886 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282886 ms (missed cycles : 2).[0m ×2 + 9.55sWARNros2_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 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730688 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730688 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956780 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956780 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.835636 ms (missed cycles : 6). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.835636 ms (missed cycles : 6).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751018 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751018 ms (missed cycles : 2).[0m ×2 + 13.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.73sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 13.73sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.75sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 13.78sINFOobjective_server_nodeFound path in 0 iterations (6.18e-07 s). ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.85sINFOobjective_server_nodeFound path in 1 iterations (0.00359465 s). ×2 + 13.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 14.05sINFOros2_control_node[2026-08-25 23:45:26.601] [info] Received new action goal ×2 + 14.05sINFOros2_control_node[2026-08-25 23:45:26.601] [info] Accepted new action goal ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918573 ms (missed cycles : 4). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918573 ms (missed cycles : 4).[0m ×2 + 14.63sWARNros2_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 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.494927 ms (missed cycles : 7). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.494927 ms (missed cycles : 7).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233289 ms (missed cycles : 3). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233289 ms (missed cycles : 3).[0m ×2 + 16.52sINFOros2_control_node[2026-08-25 23:45:29.074] [info] Received new action goal ×2 + 16.52sINFOros2_control_node[2026-08-25 23:45:29.074] [info] Accepted new action goal ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 18.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.43sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 18.44sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 19.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 20.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 20.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 21.19sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.29sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 21.30sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.31sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 21.31sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185844 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185844 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354468 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354468 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.41sINFOobjective_server_nodeFound path in 1 iterations (0.00543569 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.60sINFOros2_control_node[2026-08-25 23:46:04.572] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-25 23:46:04.572] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240560 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240560 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-08-25 23:46:05.005] [info] Received new action goal ×2 + 2.04sINFOros2_control_node[2026-08-25 23:46:05.005] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOros2_control_node[2026-08-25 23:46:05.954] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-08-25 23:46:05.954] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1787701565.96637177 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791147 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791147 ms (missed cycles : 2).[0m ×2 + 3.50sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787701566.63907099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 3.78sINFOros2_control_node[2026-08-25 23:46:06.753] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-25 23:46:06.753] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520110 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520110 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398408 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398408 ms (missed cycles : 4).[0m ×2 + 6.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356110 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356110 ms (missed cycles : 4).[0m ×2 + 6.43sINFOros2_control_node[2026-08-25 23:46:09.394] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-08-25 23:46:09.394] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822046 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822046 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290143 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290143 ms (missed cycles : 4).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876256 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876256 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669567 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669567 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.235147 ms (missed cycles : 4). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.235147 ms (missed cycles : 4).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3).[0m ×2 + 12.99sWARNros2_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 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787701577.96228981 seconds ×3 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2).[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787701578.63585973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787701578.69599056 seconds ×3 + 16.33sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787701579.29491591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.43sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 16.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.44sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Received new action goal ×2 + 16.44sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849235 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151866 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.151866 ms (missed cycles : 4).[0m ×2 + 1.61sINFOobjective_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 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.62sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648126 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648126 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.50sINFOros2_control_node[2026-08-25 23:47:11.528] [info] Received new action goal ×2 + 2.50sINFOros2_control_node[2026-08-25 23:47:11.528] [info] Accepted new action goal ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684833 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684833 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787701632.68186736 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.13sWARNros2_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 + 4.47sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787701633.49770570 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217640 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217640 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902698 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902698 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.67sINFOros2_control_node[2026-08-25 23:47:14.703] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-08-25 23:47:14.703] [info] Accepted new action goal ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516938 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516938 ms (missed cycles : 4).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100710 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100710 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500555 ms (missed cycles : 5). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500555 ms (missed cycles : 5).[0m ×2 + 9.37sINFOobjective_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 + 9.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.83sWARNros2_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 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208227 ms (missed cycles : 5). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208227 ms (missed cycles : 5).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509354 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509354 ms (missed cycles : 3).[0m ×2 + 11.76sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 11.76sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.78sINFOros2_control_node[2026-08-25 23:47:20.812] [info] Received new action goal ×2 + 11.78sINFOros2_control_node[2026-08-25 23:47:20.812] [info] Accepted new action goal ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739070 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739070 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811561 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811561 ms (missed cycles : 2).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352209 ms (missed cycles : 6). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352209 ms (missed cycles : 6).[0m ×2 + 15.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947924 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947924 ms (missed cycles : 2).[0m ×2 + 15.39sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787701644.41787148 seconds ×3 + 16.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787701645.05088329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sINFOobjective_server_nodeFound path in 0 iterations (8.78e-07 s). ×2 + 16.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.14sINFOros2_control_node[2026-08-25 23:47:25.174] [info] Received new action goal ×2 + 16.14sINFOros2_control_node[2026-08-25 23:47:25.174] [info] Accepted new action goal ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105997 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105997 ms (missed cycles : 2).[0m ×2 + 17.41sINFOobjective_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 + 17.42sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604869 ms (missed cycles : 3). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604869 ms (missed cycles : 3).[0m ×2 + 17.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155187 ms (missed cycles : 2). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155187 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 56 errors · 42 warnings · 284 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701799.18800426 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787701799.78313565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.53sINFOobjective_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 + 2.53sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.53sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787701799.78559184 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787701800.50808835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787701800.50857091 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701801.10672212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4).[0m ×2 + 4.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787701802.31687307 seconds ×3 + 5.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755076 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755076 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547087 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547087 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782400 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782400 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577331 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577331 ms (missed cycles : 3).[0m ×2 + 9.22sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665003 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665003 ms (missed cycles : 4).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.320083 ms (missed cycles : 5). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.320083 ms (missed cycles : 5).[0m ×2 + 10.84sWARNros2_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 + 10.87sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.89sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORweb_video_auth_proxy-23process has died [pid 8934, 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 + 10.90sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.92sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORweb_bridge_auth_proxy-22process has died [pid 8933, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.92sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.95sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.96sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.97sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.98sINFOvideo_server-21process has finished cleanly [pid 8932] ×2 + 10.98sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.00sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.01sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.03sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.04sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.04sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.06sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.07sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.08sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.10sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.11sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.11sINFOcontroller_managerShutdown request received.... + 11.11sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.11sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.11sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.11sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.11sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.12sINFOvideo_server2026/08/25 23:50:08 INF shutting down gracefully ×2 + 11.12sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.12sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.12sINFOvideo_server2026/08/25 23:50:08 INF [WebRTC] closing ×2 + 11.12sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.12sINFOvideo_server2026/08/25 23:50:08 INF [RTSP] closing ×2 + 11.12sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.12sINFOvideo_server2026/08/25 23:50:08 INF waiting for running hooks ×2 + 11.12sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.12sINFOcontroller_managerShutting down the controller manager. + 11.12sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.12sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.12sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.12sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.12sERRORmove_groupStack trace (most recent call last) in thread 9117: ×2 + 11.12sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.12sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febf3ee1a63, in __clone ×2 + 11.12sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febf3e54aa3, in ×2 + 11.12sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febf40e6db3, in ×2 + 11.12sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7febf4857a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.12sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febf4478620, in rclcpp::Rate::sleep() ×2 + 11.12sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febf43bad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febf437c087, in ×2 + 11.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febf40b5390, in __cxa_throw ×2 + 11.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febf409fa54, in std::terminate() ×2 + 11.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febf40b50d9, in ×2 + 11.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7febf409fff4, in ×2 + 11.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febf3de08fe, in abort ×2 + 11.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febf3dfd27d, in raise ×2 + 11.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febf3e56b2c, in pthread_kill ×2 + 11.13sERRORmove_groupAborted (Signal sent by tkill() 8817 0) ×2 + 11.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.13sERRORmove_group-9process has died [pid 8817, 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_4a8a72vi --params-file /tmp/launch_params_jje8__ud --params-file /tmp/launch_params_updt1pf7 --params-file /tmp/launch_params_pn9vzhec --params-file /tmp/launch_params_t6dljofs --params-file /tmp/launch_params_xfroslin']. ×2 + 11.13sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.13sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.13sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.13sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.13sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.13sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.13sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.32sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.32sINFOros2_control_nodepublish_async_failures_ 3[0m ×4 + 12.00sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8931] ×2 + 12.00sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.09sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8821] ×2 + 12.09sINFOui_teleop_bridge-18process has finished cleanly [pid 8826] ×2 + 12.10sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8820] ×2 + 12.10sINFOcomponent_container_mt-16process has finished cleanly [pid 8824] ×2 + 12.10sINFOexecute_objective_bridge-17process has finished cleanly [pid 8825] ×2 + 12.14sINFOwaypoint_manager_node-11process has finished cleanly [pid 8819] ×2 + 12.16sINFOparameter_manager_node-10process has finished cleanly [pid 8818] ×2 + 12.20sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.27sINFOobjective_server_node[0;m[2026-08-25 23:50:09.522] [moveit_pro_license] [critical] ×2 + 12.27sINFOobjective_server_node************************************************* ×4 + 12.27sINFOobjective_server_node* MoveIt Pro License ×2 + 12.27sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.85sINFOobjective_server_node_main-14process has finished cleanly [pid 8822] ×2 + 12.85sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.22sINFOcomponent_container_mt-15process has finished cleanly [pid 8823] ×2 + 13.45sINFOweb_bridge-19process has finished cleanly [pid 8827] ×2 + 13.45sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.77sINFOros2_control_node-1process has finished cleanly [pid 8780] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 62 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 0.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.73sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 3.30sWARNros2_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 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_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 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667008 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667008 ms (missed cycles : 2).[0m ×2 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.86sINFOros2_control_node[2026-08-25 23:45:06.670] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-08-25 23:45:06.670] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490038 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490038 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437270 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437270 ms (missed cycles : 3).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284438 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284438 ms (missed cycles : 2).[0m ×2 + 10.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 10.61sINFOros2_control_node[2026-08-25 23:45:10.415] [info] Received new action goal ×2 + 10.61sINFOros2_control_node[2026-08-25 23:45:10.415] [info] Accepted new action goal ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.404557 ms (missed cycles : 7). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.404557 ms (missed cycles : 7).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809729 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809729 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 13.93sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 13.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.95sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 13.95sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 14.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 14.73sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 14.75sERRORobjective_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: 1787701514.55773854 seconds ×3 + 14.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 16.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.33sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 16.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.34sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 16.34sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 57 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.08sERRORobjective_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: 1787701781.94070458 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924318 ms (missed cycles : 3). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924318 ms (missed cycles : 3).[0m ×2 + 7.60sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.60sINFOros2_control_node[2026-08-25 23:49:47.468] [info] Received new action goal ×2 + 7.60sINFOros2_control_node[2026-08-25 23:49:47.468] [info] Accepted new action goal ×2 + 7.60sINFOros2_control_node[2026-08-25 23:49:47.469] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590143 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590143 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119144 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119144 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034006 ms (missed cycles : 4). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034006 ms (missed cycles : 4).[0m ×2 + 10.06sWARNros2_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 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2).[0m ×2 + 14.58sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Got request to cancel active goal. ×2 + 14.58sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Canceling active goal... ×2 + 14.58sERRORobjective_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: 1787701794.44965768 seconds ×3 + 15.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701795.04788160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3).[0m ×2 + 15.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 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 5.462200 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462200 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961783 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961783 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122173 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122173 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144983 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144983 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787701770.97868991 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376592 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376592 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787701771.59042525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:49:31.724] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:49:31.724] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996053 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857324 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857324 ms (missed cycles : 6).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757651 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757651 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927950 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927950 ms (missed cycles : 4).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551073 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551073 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938326 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938326 ms (missed cycles : 2).[0m ×2 + 10.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 14.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sERRORobjective_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: 1787701781.94070458 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 15.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.42sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 16.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sINFOobjective_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 + 16.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 16.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.92sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 16.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.93sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 16.94sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 17.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 58 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340663 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340663 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.727286 ms (missed cycles : 6). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.727286 ms (missed cycles : 6).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999715 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999715 ms (missed cycles : 2).[0m ×2 + 10.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 10.29sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×4 + 10.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 10.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 10.44sINFOobjective_server_nodeFound path in 1 iterations (0.00324847 s). ×2 + 10.54sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 10.57sINFOobjective_server_nodeFound path in 1 iterations (0.00430511 s). ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650882 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650882 ms (missed cycles : 3).[0m ×2 + 10.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 11.16sINFOros2_control_node[2026-08-25 23:45:51.558] [info] Received new action goal ×2 + 11.16sINFOros2_control_node[2026-08-25 23:45:51.558] [info] Accepted new action goal ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372884 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372884 ms (missed cycles : 2).[0m ×2 + 12.48sWARNros2_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 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075419 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075419 ms (missed cycles : 2).[0m ×2 + 13.59sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 13.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 13.87sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 13.87sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 13.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787701554.28232145 seconds ×3 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717719 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717719 ms (missed cycles : 2).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830516 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830516 ms (missed cycles : 3).[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787701555.67570853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 15.48sINFOros2_control_node[2026-08-25 23:45:55.879] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-08-25 23:45:55.879] [info] Accepted new action goal ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024836 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024836 ms (missed cycles : 2).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753439 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753439 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 107 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_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 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 + 7.52sWARNros2_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 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897540 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897540 ms (missed cycles : 3).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596731 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596731 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325368 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325368 ms (missed cycles : 4).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372132 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372132 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609157 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609157 ms (missed cycles : 3).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813011 ms (missed cycles : 5). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813011 ms (missed cycles : 5).[0m ×2 + 14.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.76sERRORobjective_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: 1787701760.44385123 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130305 ms (missed cycles : 5). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130305 ms (missed cycles : 5).[0m ×2 + 15.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787701761.06578517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 15.67sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.69sINFOros2_control_node[2026-08-25 23:49:21.373] [info] Received new action goal ×2 + 15.69sINFOros2_control_node[2026-08-25 23:49:21.373] [info] Accepted new action goal ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093870 ms (missed cycles : 5). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093870 ms (missed cycles : 5).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993976 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993976 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 warnings · 176 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×4 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.33sINFOros2_control_node[2026-08-25 23:45:51.558] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-08-25 23:45:51.558] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372884 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372884 ms (missed cycles : 2).[0m ×2 + 1.65sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075419 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075419 ms (missed cycles : 2).[0m ×2 + 2.76sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 3.04sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 3.04sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 3.05sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 3.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787701554.28232145 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717719 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717719 ms (missed cycles : 2).[0m ×2 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830516 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830516 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787701555.67570853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-08-25 23:45:55.879] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-25 23:45:55.879] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024836 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024836 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753439 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753439 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696916 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696916 ms (missed cycles : 2).[0m ×2 + 7.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350468 ms (missed cycles : 4). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350468 ms (missed cycles : 4).[0m ×2 + 9.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.03sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 9.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.50sINFOobjective_server_nodeFound path in 1 iterations (0.00418594 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.67sINFOobjective_server_nodeFound path in 1 iterations (0.0069943 s). ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419638 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419638 ms (missed cycles : 2).[0m ×2 + 9.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 9.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (7.34e-07 s). ×2 + 10.36sINFOros2_control_node[2026-08-25 23:46:01.583] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-08-25 23:46:01.583] [info] Accepted new action goal ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329462 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329462 ms (missed cycles : 3).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185844 ms (missed cycles : 5). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185844 ms (missed cycles : 5).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354468 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354468 ms (missed cycles : 2).[0m ×2 + 13.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 13.05sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 13.05sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 13.06sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 13.06sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 13.07sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 13.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 13.16sINFOobjective_server_nodeFound path in 1 iterations (0.00543569 s). ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 13.35sINFOros2_control_node[2026-08-25 23:46:04.572] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-08-25 23:46:04.572] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240560 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240560 ms (missed cycles : 2).[0m ×2 + 13.78sINFOros2_control_node[2026-08-25 23:46:05.005] [info] Received new action goal ×2 + 13.78sINFOros2_control_node[2026-08-25 23:46:05.005] [info] Accepted new action goal ×2 + 14.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOros2_control_node[2026-08-25 23:46:05.954] [info] Got request to cancel active goal. ×2 + 14.73sINFOros2_control_node[2026-08-25 23:46:05.954] [info] Canceling active goal... ×2 + 14.74sERRORobjective_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: 1787701565.96637177 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791147 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791147 ms (missed cycles : 2).[0m ×2 + 15.24sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787701566.63907099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.52sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 15.53sINFOros2_control_node[2026-08-25 23:46:06.753] [info] Received new action goal ×2 + 15.53sINFOros2_control_node[2026-08-25 23:46:06.753] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520110 ms (missed cycles : 5). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520110 ms (missed cycles : 5).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398408 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398408 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 57 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2).[0m ×2 + 7.35sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.36sINFOros2_control_node[2026-08-25 23:45:37.220] [info] Received new action goal ×2 + 7.36sINFOros2_control_node[2026-08-25 23:45:37.220] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.005397 ms (missed cycles : 5). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.005397 ms (missed cycles : 5).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035809 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035809 ms (missed cycles : 5).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618860 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618860 ms (missed cycles : 3).[0m ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 9.70sINFOros2_control_node[2026-08-25 23:45:39.559] [info] Received new action goal ×2 + 9.70sINFOros2_control_node[2026-08-25 23:45:39.559] [info] Accepted new action goal ×2 + 10.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 12.05sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 12.05sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 14.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 14.19sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 14.19sERRORobjective_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: 1787701544.05102992 seconds ×3 + 14.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 15.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.03sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 16.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4).[0m ×2 + 2.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787701738.55845284 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787701739.24711514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2).[0m ×2 + 6.97sWARNros2_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 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707360 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707360 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008195 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008195 ms (missed cycles : 2).[0m ×2 + 8.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.37sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.37sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (7.61e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 1 iterations (0.00479514 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.90sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.92sINFOros2_control_node[2026-08-25 23:49:04.144] [info] Received new action goal ×2 + 8.92sINFOros2_control_node[2026-08-25 23:49:04.144] [info] Accepted new action goal ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499982 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499982 ms (missed cycles : 3).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 11.25sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.39sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 11.39sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 12.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 13.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.31sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 14.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.23sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 14.23sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 14.24sERRORobjective_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: 1787701749.46431231 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 14.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 15.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.10sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 17.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609157 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813011 ms (missed cycles : 5). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813011 ms (missed cycles : 5).[0m ×2 + 2.55sWARNros2_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 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sERRORobjective_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: 1787701760.44385123 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130305 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130305 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787701761.06578517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.94sINFOros2_control_node[2026-08-25 23:49:21.373] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-25 23:49:21.373] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093870 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093870 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993976 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993976 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550535 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550535 ms (missed cycles : 4).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829655 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829655 ms (missed cycles : 3).[0m ×2 + 7.96sINFOros2_control_node[2026-08-25 23:49:25.393] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-08-25 23:49:25.393] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062111 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062111 ms (missed cycles : 5).[0m ×2 + 9.43sWARNros2_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 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462200 ms (missed cycles : 4). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462200 ms (missed cycles : 4).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961783 ms (missed cycles : 5). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961783 ms (missed cycles : 5).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122173 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122173 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144983 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144983 ms (missed cycles : 4).[0m ×2 + 13.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787701770.97868991 seconds ×3 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376592 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376592 ms (missed cycles : 2).[0m ×2 + 14.15sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787701771.59042525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 14.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.29sINFOros2_control_node[2026-08-25 23:49:31.724] [info] Received new action goal ×2 + 14.29sINFOros2_control_node[2026-08-25 23:49:31.724] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996053 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996053 ms (missed cycles : 2).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857324 ms (missed cycles : 6). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857324 ms (missed cycles : 6).[0m ×2 + 16.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.4s | 45 warnings · 179 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2).[0m ×2 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787701578.63585973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787701578.69599056 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787701579.29491591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.83sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787701581.41504884 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453314 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453314 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787701583.02002168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103281 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103281 ms (missed cycles : 5).[0m ×2 + 6.02sINFOobjective_server_node[2026-08-25 23:46:24.595] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864185 ms (missed cycles : 6). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864185 ms (missed cycles : 6).[0m ×2 + 6.97sINFOobjective_server_node[0;93m2026-08-25 23:46:25.542712963 [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 + 6.97sINFOobjective_server_node[0;93m2026-08-25 23:46:25.542743944 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4).[0m ×2 + 8.02sINFOobjective_server_node[2026-08-25 23:46:26.591] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.57sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142125556 [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 + 8.57sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142158908 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2).[0m ×2 + 8.74sINFOobjective_server_node[2026-08-25 23:46:27.312] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.80sINFOobjective_server_node[0;93m2026-08-25 23:46:27.375816528 [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 + 8.80sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379052236 [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 + 8.80sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379078571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.87sINFOobjective_server_node[2026-08-25 23:46:27.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.28sINFOobjective_server_node[0;93m2026-08-25 23:46:27.859851458 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.31sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884143675 [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 + 9.31sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884173846 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4).[0m ×2 + 11.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787701589.80184340 seconds ×3 + 11.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787701590.48162699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.99sINFOobjective_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 + 12.00sINFOobjective_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 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 12.29sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.34sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Received new action goal ×2 + 12.34sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Accepted new action goal ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7).[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 4.7s | 3 errors · 40 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Canceling active goal... ×2 + 3.42sERRORobjective_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: 1787701794.44965768 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701795.04788160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2).[0m ×2 + 8.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701799.18800426 seconds ×3 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2).[0m ×2 + 8.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787701799.78313565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 8.75sINFOobjective_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 + 8.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 8.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787701799.78559184 seconds ×3 + 9.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787701800.50808835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787701800.50857091 seconds ×3 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4).[0m ×2 + 10.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701801.10672212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4).[0m ×2 + 10.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787701577.96228981 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787701578.63585973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787701578.69599056 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787701579.29491591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787701581.41504884 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5).[0m ×2 + 6.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453314 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453314 ms (missed cycles : 3).[0m ×2 + 7.54sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787701583.02002168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103281 ms (missed cycles : 5). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103281 ms (missed cycles : 5).[0m ×2 + 9.11sINFOobjective_server_node[2026-08-25 23:46:24.595] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864185 ms (missed cycles : 6). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864185 ms (missed cycles : 6).[0m ×2 + 10.06sINFOobjective_server_node[0;93m2026-08-25 23:46:25.542712963 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.06sINFOobjective_server_node[0;93m2026-08-25 23:46:25.542743944 [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 | 33 warnings · 544 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.16sINFOobjective_server_node[2026-08-25 23:44:55.805] [moveit_pro_license] [info] ×2 + 0.16sINFOobjective_server_node************************************************* ×4 + 0.16sINFOobjective_server_node* MoveIt Pro License ×2 + 0.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.28sINFOobjective_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 + 0.28sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.29sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.80sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.80sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.80sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.80sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.80sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.80sWARNros2_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 + 0.80sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.80sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.80sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.80sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.80sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.80sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.80sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.80sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.80sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.80sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.80sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.80sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.80sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.80sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.80sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.80sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.80sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.80sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.84sINFOcomponent_container_mt[2026-08-25 23:44:56.483] [moveit_pro_license] [info] ×2 + 0.84sINFOcomponent_container_mt************************************************* ×4 + 0.84sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.84sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.95sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.10sINFOros2_control_node[2026-08-25 23:44:56.749] [info] Controller state will be published at 20 Hz. ×2 + 1.11sINFOros2_control_node[2026-08-25 23:44:56.750] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.31sINFOros2_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 + 1.31sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.31sWARNros2_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 + 1.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.42sINFOros2-8process has finished cleanly [pid 8787] ×2 + 1.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.51sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.51sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2). + 1.51sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.51sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2).[0m ×2 + 1.54sINFOros2_control_node[2026-08-25 23:44:57.181] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.54sINFOros2_control_node[2026-08-25 23:44:57.181] [info] Controller state will be published at 50 Hz. ×2 + 1.54sINFOros2_control_node[2026-08-25 23:44:57.187] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.86sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.86sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.89sINFOros2-6process has finished cleanly [pid 8785] ×2 + 1.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.01sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 2.01sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.32sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.32sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.32sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.33sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 2.33sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 2.36sINFOros2-7process has finished cleanly [pid 8786] ×2 + 2.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×18 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 2.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.70sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.70sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.71sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.71sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 2.71sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 2.73sINFOros2-4process has finished cleanly [pid 8783] ×2 + 2.75sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.75sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.76sINFOforce_torque_sensor_broadcasterconfigure successful + 2.76sINFOros2_control_nodeconfigure successful[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.77sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.77sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.96sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.07sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.07sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.07sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.07sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 3.07sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 3.08sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.09sINFOros2-2process has finished cleanly [pid 8781] ×2 + 3.12sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.12sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.12sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.12sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.12sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.12sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 3.13sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.13sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 3.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 3.45sINFOros2-3process has finished cleanly [pid 8782] ×2 + 3.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 3.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 3.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.55sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOros2-5process has finished cleanly [pid 8784] ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.95sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 6.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 7.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 | ||||
| ✓ 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 1.809729 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809729 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 2.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.235147 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.235147 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3).[0m ×2 + 1.49sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787701577.96228981 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787701578.63585973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787701578.69599056 seconds ×3 + 4.82sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787701579.29491591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.94sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3).[0m ×2 + 6.94sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787701581.41504884 seconds ×3 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 26 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701799.18800426 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787701799.78313565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.62sINFOobjective_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 + 3.62sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.62sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787701799.78559184 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787701800.50808835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787701800.50857091 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701801.10672212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4).[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787701802.31687307 seconds ×3 + 6.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755076 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755076 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233289 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233289 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_node[2026-08-25 23:45:29.074] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-25 23:45:29.074] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 2.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.02sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2).[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787701781.94070458 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 6.76sWARNros2_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 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 445 info |
+ 0.00sINFOros2_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 + 0.00sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.00sWARNros2_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 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 8787] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2). + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2).[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-25 23:44:57.181] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.181] [info] Controller state will be published at 50 Hz. ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.187] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.58sINFOros2-6process has finished cleanly [pid 8785] ×2 + 0.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.05sINFOros2-7process has finished cleanly [pid 8786] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.42sINFOros2-4process has finished cleanly [pid 8783] ×2 + 1.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.44sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOforce_torque_sensor_broadcasterconfigure successful + 1.45sINFOros2_control_nodeconfigure successful[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.45sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.76sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.76sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.76sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.77sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.78sINFOros2-2process has finished cleanly [pid 8781] ×2 + 1.81sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.81sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.81sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.81sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 1.82sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.82sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2-3process has finished cleanly [pid 8782] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 2.23sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.24sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.24sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.25sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.25sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2-5process has finished cleanly [pid 8784] ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.64sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 7.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.19sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 7.19sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sERRORobjective_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: 1787701781.94070458 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.32sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 27 warnings · 102 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122616 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787701799.18800426 seconds ×3 + 4.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 4.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 4.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 4.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786227 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787701799.78313565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.65sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.65sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787701799.78559184 seconds ×3 + 5.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787701800.50808835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787701800.50857091 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189021 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787701801.10672212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468396 ms (missed cycles : 4).[0m ×2 + 6.85sWARNros2_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 + 7.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787701802.31687307 seconds ×3 + 7.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_node[2026-08-25 23:46:26.591] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142125556 [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 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142158908 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_node[2026-08-25 23:46:27.312] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-25 23:46:27.375816528 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379052236 [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 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379078571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.27sINFOobjective_server_node[2026-08-25 23:46:27.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-08-25 23:46:27.859851458 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884143675 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884173846 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.86sWARNros2_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 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787701589.80184340 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787701590.48162699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.39sINFOobjective_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 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2).[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787701781.94070458 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 6.76sWARNros2_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 | ||||
| − 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 1.809729 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809729 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 2.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[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 1.809729 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809729 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 2.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 3.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185844 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185844 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354468 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354468 ms (missed cycles : 2).[0m ×2 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.41sINFOobjective_server_nodeFound path in 1 iterations (0.00543569 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOros2_control_node[2026-08-25 23:46:04.572] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-25 23:46:04.572] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240560 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240560 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-08-25 23:46:05.005] [info] Received new action goal ×2 + 2.04sINFOros2_control_node[2026-08-25 23:46:05.005] [info] Accepted new action goal ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOros2_control_node[2026-08-25 23:46:05.954] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-08-25 23:46:05.954] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1787701565.96637177 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791147 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791147 ms (missed cycles : 2).[0m ×2 + 3.50sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787701566.63907099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (7.33e-07 s). ×2 + 3.78sINFOros2_control_node[2026-08-25 23:46:06.753] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-25 23:46:06.753] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520110 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520110 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398408 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398408 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.235147 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.235147 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362212 ms (missed cycles : 3).[0m ×2 + 1.49sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025304 ms (missed cycles : 3).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290703 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787701577.96228981 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787701578.63585973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787701578.69599056 seconds ×3 + 4.82sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787701579.29491591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.94sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_node[2026-08-25 23:46:26.591] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142125556 [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 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142158908 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_node[2026-08-25 23:46:27.312] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-25 23:46:27.375816528 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379052236 [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 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379078571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.27sINFOobjective_server_node[2026-08-25 23:46:27.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-08-25 23:46:27.859851458 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884143675 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884173846 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.86sWARNros2_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 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787701589.80184340 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787701590.48162699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.39sINFOobjective_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 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_node[2026-08-25 23:46:26.591] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142125556 [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 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142158908 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_node[2026-08-25 23:46:27.312] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-25 23:46:27.375816528 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379052236 [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 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379078571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.27sINFOobjective_server_node[2026-08-25 23:46:27.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-08-25 23:46:27.859851458 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884143675 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884173846 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.86sWARNros2_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 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787701589.80184340 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787701590.48162699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.39sINFOobjective_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 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_node[2026-08-25 23:46:26.591] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142125556 [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 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142158908 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_node[2026-08-25 23:46:27.312] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-25 23:46:27.375816528 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379052236 [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 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379078571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.27sINFOobjective_server_node[2026-08-25 23:46:27.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-08-25 23:46:27.859851458 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884143675 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884173846 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.86sWARNros2_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 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787701589.80184340 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787701590.48162699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.39sINFOobjective_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 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-25 23:47:20.812] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-25 23:47:20.812] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739070 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739070 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811561 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811561 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352209 ms (missed cycles : 6). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352209 ms (missed cycles : 6).[0m ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947924 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947924 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787701644.41787148 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787701645.05088329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.78e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.48sINFOros2_control_node[2026-08-25 23:47:25.174] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-25 23:47:25.174] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105997 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105997 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604869 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604869 ms (missed cycles : 3).[0m ×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 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155187 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155187 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 22 warnings · 2433 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×394 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×394 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×788 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×788 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6).[0m ×2 + 1.31sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787701710.94172573 seconds ×3 + 3.94sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.94sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787701711.57825780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_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 + 4.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOobjective_server_nodeFound path in 5 iterations (0.00623201 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.83sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3).[0m ×2 + 6.87sWARNros2_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 | Octomap Example | octomap_example.xml | 0.0s | 22 warnings · 2433 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×394 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×394 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×788 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×788 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258114 ms (missed cycles : 6).[0m ×2 + 1.31sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309209 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041807 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787701710.94172573 seconds ×3 + 3.94sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.94sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174584 ms (missed cycles : 5).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787701711.57825780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_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 + 4.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOobjective_server_nodeFound path in 5 iterations (0.00623201 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.83sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-25 23:48:31.834] [info] Accepted new action goal ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688833 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743237 ms (missed cycles : 3).[0m ×2 + 6.87sWARNros2_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 | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4).[0m ×2 + 2.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787701738.55845284 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787701739.24711514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2).[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787701781.94070458 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 6.76sWARNros2_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 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.45sWARNros2_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 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.45sWARNros2_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 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.45sWARNros2_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 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896659 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102360 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-08-25 23:45:13.755] [info] Accepted new action goal ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-25 23:45:14.541] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1787701514.55773854 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057129 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787701515.21663022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787701515.33676839 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605378 ms (missed cycles : 6).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787701515.94980335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.45sWARNros2_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 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.143] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-08-25 23:45:16.144] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.417582 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933092 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886603 ms (missed cycles : 2).[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137348 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-08-25 23:45:30.985] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402449 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787701532.37182045 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787701532.99426103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787701533.07507658 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610257 ms (missed cycles : 3).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787701533.73636389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-25 23:45:33.863] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042719 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495527 ms (missed cycles : 4).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682841 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894079 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.50sINFOobjective_server_nodeFound path in 0 iterations (7.27e-07 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-25 23:45:41.910] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162967 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154702 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-25 23:45:44.046] [info] Canceling active goal... ×2 + 3.65sERRORobjective_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: 1787701544.05102992 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787701544.69025397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.791753 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:45:44.884] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386915 ms (missed cycles : 2).[0m ×2 + 5.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470431 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661697 ms (missed cycles : 2).[0m ×2 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787701578.63585973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787701578.69599056 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787701579.29491591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.82sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.83sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-25 23:46:19.409] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965806 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592127 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787701581.41504884 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114398 ms (missed cycles : 5).[0m ×2 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453314 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453314 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787701583.02002168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103281 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103281 ms (missed cycles : 5).[0m ×2 + 6.02sINFOobjective_server_node[2026-08-25 23:46:24.595] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864185 ms (missed cycles : 6). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.864185 ms (missed cycles : 6).[0m ×2 + 6.97sINFOobjective_server_node[0;93m2026-08-25 23:46:25.542712963 [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 + 6.97sINFOobjective_server_node[0;93m2026-08-25 23:46:25.542743944 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899549 ms (missed cycles : 4).[0m ×2 + 0.41sINFOobjective_server_node[2026-08-25 23:46:26.591] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142125556 [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 + 0.96sINFOobjective_server_node[0;93m2026-08-25 23:46:27.142158908 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839809 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_node[2026-08-25 23:46:27.312] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sINFOobjective_server_node[0;93m2026-08-25 23:46:27.375816528 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379052236 [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 + 1.20sINFOobjective_server_node[0;93m2026-08-25 23:46:27.379078571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.27sINFOobjective_server_node[2026-08-25 23:46:27.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.68sINFOobjective_server_node[0;93m2026-08-25 23:46:27.859851458 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884143675 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-25 23:46:27.884173846 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.86sWARNros2_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 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928008 ms (missed cycles : 6).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644365 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787701589.80184340 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787701590.48162699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.39sINFOobjective_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 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678815 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-25 23:46:30.910] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.146303 ms (missed cycles : 7).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825500 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996775 ms (missed cycles : 2).[0m ×2 + 0.81sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480494 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104765 ms (missed cycles : 4).[0m ×2 + 2.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313366 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787701738.55845284 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787701739.24711514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834737 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-25 23:48:59.471] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960074 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105224 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763233 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-25 23:49:06.616] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.503318 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572609 ms (missed cycles : 2).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.46sWARNros2_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 + 2.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-25 23:49:08.533] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951025 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Got request to cancel active goal. ×2 + 3.76sINFOros2_control_node[2026-08-25 23:49:09.447] [info] Canceling active goal... ×2 + 3.78sERRORobjective_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: 1787701749.46431231 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065564 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787701750.14341021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (6.09e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-25 23:49:10.318] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642514 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265154 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609157 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609157 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813011 ms (missed cycles : 5). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813011 ms (missed cycles : 5).[0m ×2 + 2.55sWARNros2_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 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sERRORobjective_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: 1787701760.44385123 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130305 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130305 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787701761.06578517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.94sINFOros2_control_node[2026-08-25 23:49:21.373] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-25 23:49:21.373] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093870 ms (missed cycles : 5). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093870 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993976 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993976 ms (missed cycles : 2).[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 5.462200 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462200 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961783 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961783 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122173 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122173 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144983 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144983 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787701770.97868991 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376592 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376592 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787701771.59042525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-08-25 23:49:31.724] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-25 23:49:31.724] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996053 ms (missed cycles : 2).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857324 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857324 ms (missed cycles : 6).[0m ×2 + 6.40sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2).[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787701781.94070458 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 6.76sWARNros2_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 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758022 ms (missed cycles : 2).[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787701781.94070458 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.01sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 6.76sWARNros2_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 | ||||
| − 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 8.196809 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_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: 1787701781.94070458 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 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 8.196809 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_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: 1787701781.94070458 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 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 8.196809 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196809 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200752 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_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: 1787701781.94070458 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449074 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787701782.59965634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787701782.66979074 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486901 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787701783.27172828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787701783.29390860 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787701784.00509834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-25 23:49:44.168] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980757 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044823 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Canceling active goal... ×2 + 3.42sERRORobjective_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: 1787701794.44965768 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701795.04788160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744488 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941228 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414141 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633607 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-25 23:49:54.445] [info] Canceling active goal... ×2 + 3.42sERRORobjective_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: 1787701794.44965768 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787701795.04788160 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541168 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174254 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.8s | 37 warnings · 602 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-25-23-44-50-041450-cdb4b2736478-8732 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_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. + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198288 ms (missed cycles : 4). + 2.03sINFOros2_control_node-1process started with pid [8780] ×2 + 2.05sINFOmove_group-9process started with pid [8817] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [8818] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [8819] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [8820] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [8821] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [8822] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [8823] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [8824] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [8825] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [8826] ×2 + 2.05sINFOweb_bridge-19process started with pid [8827] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [8931] ×2 + 2.05sINFOvideo_server-21process started with pid [8932] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [8933] ×2 + 2.05sINFOweb_video_auth_proxy-23process started with pid [8934] ×2 + 2.07sINFOros2-2process started with pid [8781] ×2 + 2.07sINFOros2-3process started with pid [8782] ×2 + 2.07sINFOros2-4process started with pid [8783] ×2 + 2.07sINFOros2-5process started with pid [8784] ×2 + 2.07sINFOros2-6process started with pid [8785] ×2 + 2.07sINFOros2-7process started with pid [8786] ×2 + 2.07sINFOros2-8process started with pid [8787] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_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 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198288 ms (missed cycles : 4).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.45sINFOvideo_server2026/08/25 23:44:53 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.47sINFOvideo_server2026/08/25 23:44:53 INF configuration loaded from /tmp/moveit-webrtc-0d5ef0cu/mediamtx.yml ×2 + 2.47sINFOvideo_server2026/08/25 23:44:53 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.47sINFOvideo_server2026/08/25 23:44:53 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.90sINFOmove_group[2026-08-25 23:44:53.699] [moveit_pro_license] [info] ×2 + 2.90sINFOmove_group************************************************* ×4 + 2.90sINFOmove_group* MoveIt Pro License ×2 + 2.90sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152364 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152364 ms (missed cycles : 4).[0m ×2 + 3.32sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.36sINFOwaypoint_manager_node[2026-08-25 23:44:54.148] [moveit_pro_license] [info] ×2 + 3.36sINFOwaypoint_manager_node************************************************* ×4 + 3.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.44sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.46sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.56sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.64sINFOmove_group ×4 + 3.65sINFOmove_group[92mYou can start planning now![0m ×2 + 3.65sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.65sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.65sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.65sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.69sINFOros2_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 + 3.70sINFOros2_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 + 3.79sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.79sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.01sINFOobjective_server_node[2026-08-25 23:44:55.805] [moveit_pro_license] [info] ×2 + 5.01sINFOobjective_server_node************************************************* ×4 + 5.01sINFOobjective_server_node* MoveIt Pro License ×2 + 5.01sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.12sINFOobjective_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 + 5.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.14sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.14sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.14sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.14sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.14sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.64sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.64sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.64sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.64sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.64sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.65sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.65sWARNros2_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 + 5.65sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.65sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.65sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.65sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.65sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.65sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.65sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.65sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.65sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.65sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.65sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.65sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.65sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.65sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.65sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.65sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.65sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.65sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.68sINFOcomponent_container_mt[2026-08-25 23:44:56.483] [moveit_pro_license] [info] ×2 + 5.68sINFOcomponent_container_mt************************************************* ×4 + 5.68sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.68sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.90sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 5.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 5.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.95sINFOros2_control_node[2026-08-25 23:44:56.749] [info] Controller state will be published at 20 Hz. ×2 + 5.95sINFOros2_control_node[2026-08-25 23:44:56.750] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.05sWARNobjective_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 + 6.16sINFOros2_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 + 6.16sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.16sWARNros2_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 + 6.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.26sINFOros2-8process has finished cleanly [pid 8787] ×2 + 6.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 6.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 6.35sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.35sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2). + 6.36sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.36sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2).[0m ×2 + 6.38sINFOros2_control_node[2026-08-25 23:44:57.181] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.38sINFOros2_control_node[2026-08-25 23:44:57.181] [info] Controller state will be published at 50 Hz. ×2 + 6.39sINFOros2_control_node[2026-08-25 23:44:57.187] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.71sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.71sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.71sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.71sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.74sINFOros2-6process has finished cleanly [pid 8785] ×2 + 6.78sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 6.78sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 6.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.82sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.85sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 6.85sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.17sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.17sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.17sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.17sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.17sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 7.17sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 7.21sINFOros2-7process has finished cleanly [pid 8786] ×2 + 7.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.23sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.24sINFOcontroller_managerSuccessfully switched controllers! ×12 + 7.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 7.25sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.25sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.55sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 7.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 7.58sINFOros2-4process has finished cleanly [pid 8783] ×2 + 7.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.60sINFOforce_torque_sensor_broadcasterconfigure successful + 7.60sINFOros2_control_nodeconfigure successful[0m ×2 + 7.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.92sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 7.92sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 7.93sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.94sINFOros2-2process has finished cleanly [pid 8781] ×2 + 7.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 7.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 7.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 8.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 8.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 8.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 8.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 8.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 8.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 8.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 8.30sINFOros2-3process has finished cleanly [pid 8782] ×2 + 8.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 8.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 8.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 8.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.39sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 8.39sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.39sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.39sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 8.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 8.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 8.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 8.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.73sINFOros2-5process has finished cleanly [pid 8784] ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 9.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 9.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.80sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 10.32sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.38sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 11.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 354 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8783] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-2process has finished cleanly [pid 8781] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 0.43sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.86sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.18sINFOros2-5process has finished cleanly [pid 8784] ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.25sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 404 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.43sINFOros2-7process has finished cleanly [pid 8786] ×2 + 0.45sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.80sINFOros2-4process has finished cleanly [pid 8783] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOforce_torque_sensor_broadcasterconfigure successful + 0.83sINFOros2_control_nodeconfigure successful[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.83sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.14sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.14sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.14sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.15sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.15sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.16sINFOros2-2process has finished cleanly [pid 8781] ×2 + 1.18sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.19sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.19sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 1.20sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.20sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOros2-3process has finished cleanly [pid 8782] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.55sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.61sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.61sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.62sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.62sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.62sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.62sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.63sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.63sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.95sINFOros2-5process has finished cleanly [pid 8784] ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.02sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.57sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 416 info |
+ 0.00sINFOros2_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 + 0.00sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.00sWARNros2_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 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 8787] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2). + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2).[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-25 23:44:57.181] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.181] [info] Controller state will be published at 50 Hz. ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.187] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.58sINFOros2-6process has finished cleanly [pid 8785] ×2 + 0.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.05sINFOros2-7process has finished cleanly [pid 8786] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.42sINFOros2-4process has finished cleanly [pid 8783] ×2 + 1.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.44sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOforce_torque_sensor_broadcasterconfigure successful + 1.45sINFOros2_control_nodeconfigure successful[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.45sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.76sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.76sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.76sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.77sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.78sINFOros2-2process has finished cleanly [pid 8781] ×2 + 1.81sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.81sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.81sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.81sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 1.82sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.82sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2-3process has finished cleanly [pid 8782] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 2.23sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.24sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.24sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.25sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.25sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2-5process has finished cleanly [pid 8784] ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.64sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-25-23-44-50-041450-cdb4b2736478-8732 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_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. + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198288 ms (missed cycles : 4). + 2.03sINFOros2_control_node-1process started with pid [8780] ×2 + 2.05sINFOmove_group-9process started with pid [8817] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [8818] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [8819] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [8820] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [8821] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [8822] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [8823] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [8824] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [8825] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [8826] ×2 + 2.05sINFOweb_bridge-19process started with pid [8827] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [8931] ×2 + 2.05sINFOvideo_server-21process started with pid [8932] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [8933] ×2 + 2.05sINFOweb_video_auth_proxy-23process started with pid [8934] ×2 + 2.07sINFOros2-2process started with pid [8781] ×2 + 2.07sINFOros2-3process started with pid [8782] ×2 + 2.07sINFOros2-4process started with pid [8783] ×2 + 2.07sINFOros2-5process started with pid [8784] ×2 + 2.07sINFOros2-6process started with pid [8785] ×2 + 2.07sINFOros2-7process started with pid [8786] ×2 + 2.07sINFOros2-8process started with pid [8787] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_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 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198288 ms (missed cycles : 4).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.45sINFOvideo_server2026/08/25 23:44:53 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.47sINFOvideo_server2026/08/25 23:44:53 INF configuration loaded from /tmp/moveit-webrtc-0d5ef0cu/mediamtx.yml ×2 + 2.47sINFOvideo_server2026/08/25 23:44:53 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.47sINFOvideo_server2026/08/25 23:44:53 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 416 info |
+ 0.00sINFOros2_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 + 0.00sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.00sWARNros2_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 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 8787] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2). + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2).[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-25 23:44:57.181] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.181] [info] Controller state will be published at 50 Hz. ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.187] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.58sINFOros2-6process has finished cleanly [pid 8785] ×2 + 0.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.05sINFOros2-7process has finished cleanly [pid 8786] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.42sINFOros2-4process has finished cleanly [pid 8783] ×2 + 1.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.44sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOforce_torque_sensor_broadcasterconfigure successful + 1.45sINFOros2_control_nodeconfigure successful[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.45sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.76sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.76sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.76sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.77sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.78sINFOros2-2process has finished cleanly [pid 8781] ×2 + 1.81sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.81sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.81sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.81sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 1.82sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.82sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2-3process has finished cleanly [pid 8782] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 2.23sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.24sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.24sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.25sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.25sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2-5process has finished cleanly [pid 8784] ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.64sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 416 info |
+ 0.00sINFOros2_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 + 0.00sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.00sWARNros2_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 + 0.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 8787] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.20sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2). + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_node[2026-08-25 23:44:57.154] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760243 ms (missed cycles : 2).[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-25 23:44:57.181] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.181] [info] Controller state will be published at 50 Hz. ×2 + 0.23sINFOros2_control_node[2026-08-25 23:44:57.187] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.58sINFOros2-6process has finished cleanly [pid 8785] ×2 + 0.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 0.69sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.05sINFOros2-7process has finished cleanly [pid 8786] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.40sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.42sINFOros2-4process has finished cleanly [pid 8783] ×2 + 1.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.44sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOforce_torque_sensor_broadcasterconfigure successful + 1.45sINFOros2_control_nodeconfigure successful[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.45sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.46sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.76sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.76sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.76sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.76sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.77sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.78sINFOros2-2process has finished cleanly [pid 8781] ×2 + 1.81sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.81sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.81sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.81sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 1.82sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.82sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.14sINFOros2-3process has finished cleanly [pid 8782] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 2.23sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.24sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.24sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.24sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.25sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.25sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.57sINFOros2-5process has finished cleanly [pid 8784] ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.64sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 404 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_node[2026-08-25 23:44:57.650] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-25 23:44:57.651] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.43sINFOros2-7process has finished cleanly [pid 8786] ×2 + 0.45sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.54sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.80sINFOros2-4process has finished cleanly [pid 8783] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOforce_torque_sensor_broadcasterconfigure successful + 0.83sINFOros2_control_nodeconfigure successful[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.83sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.14sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.14sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.14sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.14sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.14sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.14sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.15sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.15sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.16sINFOros2-2process has finished cleanly [pid 8781] ×2 + 1.18sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.19sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.19sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 1.20sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.20sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.52sINFOros2-3process has finished cleanly [pid 8782] ×2 + 1.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 1.55sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 1.61sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.61sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.62sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.62sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.62sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.62sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.63sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.63sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.95sINFOros2-5process has finished cleanly [pid 8784] ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.02sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.57sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 28 warnings · 354 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8783] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-2process has finished cleanly [pid 8781] ×2 + 0.41sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.41sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147064 ms (missed cycles : 3).[0m ×2 + 0.43sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787701498.83198762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787701498.84224463 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.84sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.84sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.84sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.85sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.85sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.85sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.86sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.18sINFOros2-5process has finished cleanly [pid 8784] ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.25sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 276 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667008 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667008 ms (missed cycles : 2).[0m ×2 + 7.37sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.57sINFOros2_control_node[2026-08-25 23:45:06.670] [info] Received new action goal ×2 + 7.57sINFOros2_control_node[2026-08-25 23:45:06.670] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 260 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8782] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_amtfgq0e --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_2ngcilr9 --params-file /tmp/launch_params_odiohba9 [0m ×2 + 0.09sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787701499.44178367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sINFOros2-5process has finished cleanly [pid 8784] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257526 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787701500.50192833 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.50sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531778 ms (missed cycles : 3).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787701501.12246728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787701501.18261719 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246275 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787701501.88913536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787701501.90925241 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787701502.50244808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787701502.65348983 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845483 ms (missed cycles : 4).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787701503.35069323 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 + 4.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787701503.40082169 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787701504.00078940 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 + 4.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 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 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739407 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.2638e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-25 23:45:04.147] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675781 ms (missed cycles : 3).[0m ×2 | ||||