MoveIt Pro Objective Integration Tests

117

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

8.9s

Avg test time

94%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

2 fail27 pass55 skip

✕ failed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	8.2s	6 errors · 48 warnings · 2355 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×374 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×374 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×748 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×748 + 0.04sWARNros2_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 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787875255.25428843 seconds ×3 + 3.63sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.63sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.63sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787875255.89032459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 5 iterations (0.00605827 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.55sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703100 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703100 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3).[0m ×2 + 11.61sWARNros2_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 + 11.78sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found ×3 + 11.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick 1 Pill Bottle with SAM3` did not succeed at time: 1787875263.41049027 seconds ×3 + 11.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 11.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 11.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 11.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 11.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 11.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8).[0m ×2 + 12.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787875264.09162593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 12.65sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 12.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 12.67sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Received new action goal ×2 + 12.67sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Accepted new action goal ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4).[0m ×2
✕ failed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	0.6s	6 errors · 25 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787875130.91877389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Accepted new action goal ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.09sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 6.57sWARNros2_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	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	44.4s	163 warnings · 19808 info
+ 0.00sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.01sINFOros2_control_node[2026-08-27 23:59:44.988] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-08-27 23:59:44.988] [info] Accepted new action goal ×2 + 0.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.413724 ms (missed cycles : 6). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.413724 ms (missed cycles : 6).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221872 ms (missed cycles : 4). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221872 ms (missed cycles : 4).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170510 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170510 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787875188.59305358 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069371 ms (missed cycles : 7). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069371 ms (missed cycles : 7).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787875189.19864655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.42sINFOros2_control_node[2026-08-27 23:59:49.402] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-27 23:59:49.402] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173451 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173451 ms (missed cycles : 4).[0m ×2 + 5.69sINFOobjective_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 + 5.70sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406910 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406910 ms (missed cycles : 2).[0m ×2 + 6.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383675 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383675 ms (missed cycles : 2).[0m ×2 + 7.86sINFOjoint_trajectory_controllerReceived new action goal ×3263 + 7.86sINFOjoint_trajectory_controllerAccepted new action goal ×3263 + 7.86sINFOros2_control_nodeReceived new action goal[0m ×6526 + 7.86sINFOros2_control_nodeAccepted new action goal[0m ×6526 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440074 ms (missed cycles : 4). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440074 ms (missed cycles : 4).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694004 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694004 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039752 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039752 ms (missed cycles : 2).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880594 ms (missed cycles : 6). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.880594 ms (missed cycles : 6).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698719 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698719 ms (missed cycles : 2).[0m ×2 + 12.62sWARNros2_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 ×6 + 12.75sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.75sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.75sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.75sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931327 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931327 ms (missed cycles : 2).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110315 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110315 ms (missed cycles : 2).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479847 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479847 ms (missed cycles : 2).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243909 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243909 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055580 ms (missed cycles : 4). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055580 ms (missed cycles : 4).[0m ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667440 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667440 ms (missed cycles : 2).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016539 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016539 ms (missed cycles : 2).[0m ×2 + 19.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822699 ms (missed cycles : 2). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822699 ms (missed cycles : 2).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474747 ms (missed cycles : 3). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474747 ms (missed cycles : 3).[0m ×2 + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430490 ms (missed cycles : 4). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430490 ms (missed cycles : 4).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355823 ms (missed cycles : 3). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355823 ms (missed cycles : 3).[0m ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954797 ms (missed cycles : 2). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954797 ms (missed cycles : 2).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972432 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972432 ms (missed cycles : 2).[0m ×2 + 26.67sWARNros2_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 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.829957 ms (missed cycles : 7). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.829957 ms (missed cycles : 7).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956649 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956649 ms (missed cycles : 2).[0m ×2 + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026825 ms (missed cycles : 2). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026825 ms (missed cycles : 2).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698306 ms (missed cycles : 3). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698306 ms (missed cycles : 3).[0m ×2 + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953687 ms (missed cycles : 2). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953687 ms (missed cycles : 2).[0m ×2 + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930182 ms (missed cycles : 5). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930182 ms (missed cycles : 5).[0m ×2 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738030 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738030 ms (missed cycles : 2).[0m ×2 + 33.67sWARNros2_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 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960118 ms (missed cycles : 2). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960118 ms (missed cycles : 2).[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761517 ms (missed cycles : 2). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761517 ms (missed cycles : 2).[0m ×2 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734431 ms (missed cycles : 2). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734431 ms (missed cycles : 2).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884451 ms (missed cycles : 5). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.884451 ms (missed cycles : 5).[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228126 ms (missed cycles : 3). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228126 ms (missed cycles : 3).[0m ×2 + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815661 ms (missed cycles : 2). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815661 ms (missed cycles : 2).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274708 ms (missed cycles : 3). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274708 ms (missed cycles : 3).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682744 ms (missed cycles : 2). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682744 ms (missed cycles : 2).[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479181 ms (missed cycles : 2). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479181 ms (missed cycles : 2).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992455 ms (missed cycles : 2). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992455 ms (missed cycles : 2).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420705 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420705 ms (missed cycles : 2).[0m ×2 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585880 ms (missed cycles : 2). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585880 ms (missed cycles : 2).[0m ×2 + 47.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771412 ms (missed cycles : 2). + 47.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771412 ms (missed cycles : 2).[0m ×2 + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700996 ms (missed cycles : 2). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700996 ms (missed cycles : 2).[0m ×2 + 48.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787875233.03080297 seconds ×3 + 48.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787875233.76357460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.84sINFOobjective_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 + 48.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 48.95sINFOros2_control_node[2026-08-28 00:00:33.927] [info] Received new action goal ×2 + 48.95sINFOros2_control_node[2026-08-28 00:00:33.927] [info] Accepted new action goal ×2 + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799198 ms (missed cycles : 5). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799198 ms (missed cycles : 5).[0m ×2 + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605391 ms (missed cycles : 4). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605391 ms (missed cycles : 4).[0m ×2 + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789862 ms (missed cycles : 2). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789862 ms (missed cycles : 2).[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.0s	6 errors · 149 warnings · 299 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.74sINFOobjective_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 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_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 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364448 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364448 ms (missed cycles : 3).[0m ×2 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 6.94sINFOros2_control_node[2026-08-27 23:58:58.787] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-08-27 23:58:58.787] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279977 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279977 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144010 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144010 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975339 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975339 ms (missed cycles : 3).[0m ×2 + 10.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.11sINFOros2_control_node[2026-08-27 23:59:01.957] [info] Received new action goal ×2 + 10.11sINFOros2_control_node[2026-08-27 23:59:01.957] [info] Accepted new action goal ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769553 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769553 ms (missed cycles : 3).[0m ×2 + 11.65sWARNros2_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 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048052 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048052 ms (missed cycles : 2).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781008 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781008 ms (missed cycles : 4).[0m ×2 + 13.08sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.13sINFOros2_control_node[2026-08-27 23:59:04.980] [info] Received new action goal ×2 + 13.13sINFOros2_control_node[2026-08-27 23:59:04.980] [info] Accepted new action goal ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899304 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899304 ms (missed cycles : 2).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.219429 ms (missed cycles : 6). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.219429 ms (missed cycles : 6).[0m ×2 + 16.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.10sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.10sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.10sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.10sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982757 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982757 ms (missed cycles : 2).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364337 ms (missed cycles : 6). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364337 ms (missed cycles : 6).[0m ×2 + 17.56sWARNros2_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 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979870 ms (missed cycles : 3). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979870 ms (missed cycles : 3).[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063824 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063824 ms (missed cycles : 2).[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.707387 ms (missed cycles : 5). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.707387 ms (missed cycles : 5).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908882 ms (missed cycles : 3). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908882 ms (missed cycles : 3).[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328481 ms (missed cycles : 5). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328481 ms (missed cycles : 5).[0m ×2 + 22.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 22.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.88sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.88sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.89sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.89sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749840 ms (missed cycles : 4). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749840 ms (missed cycles : 4).[0m ×2 + 23.83sINFOros2_control_node[2026-08-27 23:59:15.676] [info] Received new action goal ×2 + 23.83sINFOros2_control_node[2026-08-27 23:59:15.676] [info] Accepted new action goal ×2 + 24.34sWARNros2_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 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532328 ms (missed cycles : 6). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532328 ms (missed cycles : 6).[0m ×2 + 24.99sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.28sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 25.28sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.33sINFOros2_control_node[2026-08-27 23:59:17.180] [info] Received new action goal ×2 + 25.33sINFOros2_control_node[2026-08-27 23:59:17.180] [info] Accepted new action goal ×2 + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203261 ms (missed cycles : 2). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203261 ms (missed cycles : 2).[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277832 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277832 ms (missed cycles : 2).[0m ×2 + 27.47sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 27.47sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.49sINFOros2_control_node[2026-08-27 23:59:19.337] [info] Received new action goal ×2 + 27.49sINFOros2_control_node[2026-08-27 23:59:19.337] [info] Accepted new action goal ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341917 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341917 ms (missed cycles : 2).[0m ×2 + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258565 ms (missed cycles : 2). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258565 ms (missed cycles : 2).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418956 ms (missed cycles : 3). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418956 ms (missed cycles : 3).[0m ×2 + 30.44sWARNros2_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 + 30.53sINFOros2_control_node[2026-08-27 23:59:22.377] [info] Received new action goal ×2 + 30.53sINFOros2_control_node[2026-08-27 23:59:22.377] [info] Accepted new action goal ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797339 ms (missed cycles : 5). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.797339 ms (missed cycles : 5).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313689 ms (missed cycles : 5). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.313689 ms (missed cycles : 5).[0m ×2 + 33.12sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 33.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.17sINFOros2_control_node[2026-08-27 23:59:25.025] [info] Received new action goal ×2 + 33.17sINFOros2_control_node[2026-08-27 23:59:25.025] [info] Accepted new action goal ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235964 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235964 ms (missed cycles : 3).[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052785 ms (missed cycles : 4). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052785 ms (missed cycles : 4).[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471597 ms (missed cycles : 2). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471597 ms (missed cycles : 2).[0m ×2 + 36.53sWARNros2_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 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494683 ms (missed cycles : 2). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494683 ms (missed cycles : 2).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925528 ms (missed cycles : 2). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925528 ms (missed cycles : 2).[0m ×2 + 38.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133526 ms (missed cycles : 4). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133526 ms (missed cycles : 4).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776387 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776387 ms (missed cycles : 2).[0m ×2 + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137338 ms (missed cycles : 5). + 41.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137338 ms (missed cycles : 5).[0m ×2 + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836222 ms (missed cycles : 3). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836222 ms (missed cycles : 3).[0m ×2 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137377 ms (missed cycles : 2). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137377 ms (missed cycles : 2).[0m ×2 + 43.87sINFOros2_control_node[2026-08-27 23:59:35.717] [info] Received new action goal ×2 + 43.87sINFOros2_control_node[2026-08-27 23:59:35.717] [info] Accepted new action goal ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492179 ms (missed cycles : 3). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492179 ms (missed cycles : 3).[0m ×2 + 45.02sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787875176.87420368 seconds ×3 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154665 ms (missed cycles : 3). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154665 ms (missed cycles : 3).[0m ×2 + 45.81sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787875177.66290092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.13sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867722 ms (missed cycles : 5). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867722 ms (missed cycles : 5).[0m ×2 + 46.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 47.00sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.02sINFOros2_control_node[2026-08-27 23:59:38.867] [info] Received new action goal ×2 + 47.02sINFOros2_control_node[2026-08-27 23:59:38.867] [info] Accepted new action goal ×2 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238285 ms (missed cycles : 5). + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238285 ms (missed cycles : 5).[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	22.2s	94 warnings · 13582 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2237 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2237 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4474 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4474 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420705 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420705 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585880 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585880 ms (missed cycles : 2).[0m ×2 + 2.14sWARNros2_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 ×4 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771412 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771412 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700996 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700996 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787875233.03080297 seconds ×3 + 3.63sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.63sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.63sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787875233.76357460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.52sINFOros2_control_node[2026-08-28 00:00:33.927] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-28 00:00:33.927] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799198 ms (missed cycles : 5). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799198 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_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 + 5.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605391 ms (missed cycles : 4). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605391 ms (missed cycles : 4).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789862 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789862 ms (missed cycles : 2).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708830 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708830 ms (missed cycles : 2).[0m ×2 + 8.57sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278716 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278716 ms (missed cycles : 2).[0m ×2 + 9.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409255 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409255 ms (missed cycles : 2).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187066 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187066 ms (missed cycles : 2).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723626 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723626 ms (missed cycles : 2).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213163 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213163 ms (missed cycles : 2).[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920214 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920214 ms (missed cycles : 2).[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606218 ms (missed cycles : 6). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.606218 ms (missed cycles : 6).[0m ×2 + 16.13sWARNros2_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 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075242 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075242 ms (missed cycles : 2).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459790 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459790 ms (missed cycles : 2).[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485986 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485986 ms (missed cycles : 2).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752682 ms (missed cycles : 2). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752682 ms (missed cycles : 2).[0m ×2 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300874 ms (missed cycles : 3). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300874 ms (missed cycles : 3).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.223184 ms (missed cycles : 8). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.223184 ms (missed cycles : 8).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4).[0m ×2 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2).[0m ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2).[0m ×2 + 25.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787875255.25428843 seconds ×3 + 26.48sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787875255.89032459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.66sINFOobjective_server_nodeFound path in 5 iterations (0.00605827 s). ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4).[0m ×2 + 26.75sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.77sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Received new action goal ×2 + 26.77sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Accepted new action goal ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5).[0m ×2 + 27.84sWARNros2_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 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	17.6s	3 errors · 71 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 1.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508362 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508362 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.961786 ms (missed cycles : 7). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.961786 ms (missed cycles : 7).[0m ×2 + 7.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767726 ms (missed cycles : 4). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767726 ms (missed cycles : 4).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703922 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703922 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797107 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797107 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745808 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745808 ms (missed cycles : 2).[0m ×2 + 13.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745181 ms (missed cycles : 5). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745181 ms (missed cycles : 5).[0m ×2 + 13.82sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.83sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 13.85sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 13.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.95sINFOobjective_server_nodeFound path in 1 iterations (0.00306818 s). ×2 + 14.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 14.19sINFOros2_control_node[2026-08-27 23:57:58.186] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-08-27 23:57:58.186] [info] Accepted new action goal ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206556 ms (missed cycles : 4). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206556 ms (missed cycles : 4).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.958883 ms (missed cycles : 7). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.958883 ms (missed cycles : 7).[0m ×2 + 16.67sINFOros2_control_node[2026-08-27 23:58:00.659] [info] Received new action goal ×2 + 16.67sINFOros2_control_node[2026-08-27 23:58:00.659] [info] Accepted new action goal ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127367 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127367 ms (missed cycles : 3).[0m ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 18.57sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.58sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 18.58sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 19.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 19.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 20.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 21.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.36sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 21.37sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.38sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 21.38sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.9s	3 errors · 57 warnings · 179 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074043 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074043 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 0.51sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.51sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 0.52sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.64sINFOobjective_server_nodeFound path in 1 iterations (0.00363723 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.91sINFOros2_control_node[2026-08-27 23:58:35.902] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-27 23:58:35.902] [info] Accepted new action goal ×2 + 1.34sINFOros2_control_node[2026-08-27 23:58:36.333] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-08-27 23:58:36.334] [info] Accepted new action goal ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463029 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463029 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOros2_control_node[2026-08-27 23:58:37.686] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-08-27 23:58:37.686] [info] Canceling active goal... ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787875117.69468141 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787875118.35383987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.52sINFOros2_control_node[2026-08-27 23:58:38.517] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 23:58:38.517] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966459 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966459 ms (missed cycles : 2).[0m ×2 + 4.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259627 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259627 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180753 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180753 ms (missed cycles : 5).[0m ×2 + 6.03sINFOros2_control_node[2026-08-27 23:58:41.022] [info] Received new action goal ×2 + 6.03sINFOros2_control_node[2026-08-27 23:58:41.022] [info] Accepted new action goal ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805981 ms (missed cycles : 4). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805981 ms (missed cycles : 4).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172704 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172704 ms (missed cycles : 3).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491024 ms (missed cycles : 4). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491024 ms (missed cycles : 4).[0m ×2 + 10.25sWARNros2_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 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290445 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290445 ms (missed cycles : 3).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339458 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339458 ms (missed cycles : 3).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2).[0m ×2 + 14.60sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787875129.59403348 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2).[0m ×2 + 15.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787875130.26326871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787875130.32339025 seconds ×3 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3).[0m ×2 + 15.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787875130.91877389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 16.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.05sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Received new action goal ×2 + 16.05sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Accepted new action goal ×2 + 16.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 18.05sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	61 errors · 42 warnings · 315 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5).[0m ×2 + 0.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Got request to cancel active goal. ×2 + 0.13sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Canceling active goal... ×2 + 0.14sERRORobjective_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: 1787875319.58624029 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875320.18187332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875321.73201084 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875322.33333898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.88sINFOobjective_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 + 2.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875322.33519697 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787875323.06092477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787875323.06137514 seconds ×3 + 3.84sWARNros2_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 + 4.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787875323.65587115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787875324.87628746 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480077 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480077 ms (missed cycles : 4).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081755 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081755 ms (missed cycles : 5).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979707 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979707 ms (missed cycles : 2).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354322 ms (missed cycles : 5). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354322 ms (missed cycles : 5).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531044 ms (missed cycles : 5). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531044 ms (missed cycles : 5).[0m ×2 + 9.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185100 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185100 ms (missed cycles : 2).[0m ×2 + 11.30sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.31sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORweb_video_auth_proxy-23process has died [pid 8698, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.31sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.33sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORweb_bridge_auth_proxy-22process has died [pid 8697, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.33sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.37sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.38sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.39sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.39sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.40sINFOvideo_server-21process has finished cleanly [pid 8691] ×2 + 11.41sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.42sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.43sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.44sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.46sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.47sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.49sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.50sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.51sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.53sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.53sINFOvideo_server2026/08/28 00:02:10 INF shutting down gracefully ×2 + 11.53sINFOvideo_server2026/08/28 00:02:10 INF [WebRTC] closing ×2 + 11.53sINFOvideo_server2026/08/28 00:02:10 INF [RTSP] closing ×2 + 11.53sINFOvideo_server2026/08/28 00:02:10 INF waiting for running hooks ×2 + 11.53sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sINFOcontroller_managerShutdown request received.... + 11.54sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.54sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.54sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.54sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.54sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.54sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.54sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.54sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.54sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.54sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.54sINFOcontroller_managerShutting down the controller manager. + 11.54sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.54sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.54sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.54sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.54sERRORmove_groupStack trace (most recent call last) in thread 8926: ×2 + 11.54sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.54sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcd3f38a63, in __clone ×2 + 11.54sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcd3eabaa3, in ×2 + 11.54sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcd413ddb3, in ×2 + 11.54sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7fbcd48aea47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.54sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbcd44cf620, in rclcpp::Rate::sleep() ×2 + 11.54sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbcd4411d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.54sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbcd43d3087, in ×2 + 11.54sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcd410c390, in __cxa_throw ×2 + 11.54sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcd40f6a54, in std::terminate() ×2 + 11.54sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcd410c0d9, in ×2 + 11.54sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcd40f6ff4, in ×2 + 11.54sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcd3e378fe, in abort ×2 + 11.54sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcd3e5427d, in raise ×2 + 11.54sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcd3eadb2c, in pthread_kill ×2 + 11.54sERRORmove_groupAborted (Signal sent by tkill() 8625 0) ×2 + 11.54sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.55sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.55sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.55sERRORmove_group-9process has died [pid 8625, 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_l3irtfdi --params-file /tmp/launch_params_fbv9220d --params-file /tmp/launch_params_s1fqeiij --params-file /tmp/launch_params_a7cg3j4o --params-file /tmp/launch_params_tlkdspm5 --params-file /tmp/launch_params_gxqje446']. ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.55sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.55sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.55sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.55sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.55sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.75sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.75sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.75sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.43sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8688] ×2 + 12.43sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.50sINFOui_teleop_bridge-18process has finished cleanly [pid 8634] ×2 + 12.50sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8629] ×2 + 12.50sINFOexecute_objective_bridge-17process has finished cleanly [pid 8633] ×2 + 12.51sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8628] ×2 + 12.52sINFOcomponent_container_mt-16process has finished cleanly [pid 8632] ×2 + 12.56sINFOwaypoint_manager_node-11process has finished cleanly [pid 8627] ×2 + 12.58sINFOparameter_manager_node-10process has finished cleanly [pid 8626] ×2 + 12.59sINFOobjective_server_node[0;m[2026-08-28 00:02:12.041] [moveit_pro_license] [critical] ×2 + 12.59sINFOobjective_server_node************************************************* ×4 + 12.59sINFOobjective_server_node* MoveIt Pro License ×2 + 12.59sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.63sINFOcomponent_container_mt-15process has finished cleanly [pid 8631] ×2 + 12.73sINFOobjective_server_node_main-14process has finished cleanly [pid 8630] ×2 + 12.73sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.45sINFOweb_bridge-19process has finished cleanly [pid 8635] ×2 + 13.45sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.18sINFOros2_control_node-1process has finished cleanly [pid 8588] ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	59 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836222 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836222 ms (missed cycles : 3).[0m ×2 + 0.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.89sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.89sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.89sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137377 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137377 ms (missed cycles : 2).[0m ×2 + 1.29sWARNros2_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 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-08-27 23:59:35.717] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-27 23:59:35.717] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492179 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492179 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787875176.87420368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154665 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154665 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787875177.66290092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867722 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.867722 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.92sINFOros2_control_node[2026-08-27 23:59:38.867] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-27 23:59:38.867] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238285 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238285 ms (missed cycles : 5).[0m ×2 + 6.37sWARNros2_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 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244531 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244531 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614884 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614884 ms (missed cycles : 5).[0m ×2 + 8.62sINFOobjective_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 + 8.62sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.63sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.63sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.63sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883375 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883375 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.841442 ms (missed cycles : 8). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.841442 ms (missed cycles : 8).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192839 ms (missed cycles : 6). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192839 ms (missed cycles : 6).[0m ×2 + 11.01sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 11.03sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.04sINFOros2_control_node[2026-08-27 23:59:44.988] [info] Received new action goal ×2 + 11.04sINFOros2_control_node[2026-08-27 23:59:44.988] [info] Accepted new action goal ×2 + 11.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.413724 ms (missed cycles : 6). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.413724 ms (missed cycles : 6).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221872 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221872 ms (missed cycles : 4).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170510 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170510 ms (missed cycles : 2).[0m ×2 + 14.64sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787875188.59305358 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069371 ms (missed cycles : 7). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069371 ms (missed cycles : 7).[0m ×2 + 15.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787875189.19864655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 15.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.45sINFOros2_control_node[2026-08-27 23:59:49.402] [info] Received new action goal ×2 + 15.45sINFOros2_control_node[2026-08-27 23:59:49.402] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173451 ms (missed cycles : 4). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173451 ms (missed cycles : 4).[0m ×2 + 16.72sINFOobjective_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 + 16.73sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406910 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406910 ms (missed cycles : 2).[0m ×2 + 17.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	11.2s	6 errors · 60 warnings · 243 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.49sERRORobjective_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: 1787875307.08480239 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208800 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208800 ms (missed cycles : 4).[0m ×2 + 6.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 6.97sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.97sINFOros2_control_node[2026-08-28 00:01:52.565] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-08-28 00:01:52.565] [info] Accepted new action goal ×2 + 6.97sINFOros2_control_node[2026-08-28 00:01:52.565] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990799 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990799 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932716 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932716 ms (missed cycles : 3).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280068 ms (missed cycles : 6). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280068 ms (missed cycles : 6).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5).[0m ×2 + 13.99sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Canceling active goal... ×2 + 13.99sERRORobjective_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: 1787875319.58624029 seconds ×3 + 14.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875320.18187332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3).[0m ×2 + 16.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875321.73201084 seconds ×3 + 16.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875322.33333898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.74sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875322.33519697 seconds ×3 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3).[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.1s	9 errors · 57 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3).[0m ×2 + 2.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found ×3 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick 1 Pill Bottle with SAM3` did not succeed at time: 1787875263.41049027 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787875264.09162593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405570 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405570 ms (missed cycles : 3).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276230 ms (missed cycles : 4). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276230 ms (missed cycles : 4).[0m ×2 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 1 iterations (0.00314935 s). ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089734 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089734 ms (missed cycles : 2).[0m ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 8.94sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.96sINFOros2_control_node[2026-08-28 00:01:09.529] [info] Received new action goal ×2 + 8.96sINFOros2_control_node[2026-08-28 00:01:09.529] [info] Accepted new action goal ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.688690 ms (missed cycles : 6). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.688690 ms (missed cycles : 6).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 11.43sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 11.43sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 13.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.35sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 14.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 14.01sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 14.04sERRORobjective_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: 1787875274.60625839 seconds ×3 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 14.70sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.90sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 15.63sWARNros2_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 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 16.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	11.0s	9 errors · 60 warnings · 150 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×4 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083024 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083024 ms (missed cycles : 2).[0m ×2 + 8.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.48sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.96sINFOobjective_server_nodeFound path in 1 iterations (0.00285243 s). ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859733 ms (missed cycles : 4). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859733 ms (missed cycles : 4).[0m ×2 + 9.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 1 iterations (0.00458883 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 9.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (6.73e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.77sINFOros2_control_node[2026-08-27 23:58:22.038] [info] Received new action goal ×2 + 9.77sINFOros2_control_node[2026-08-27 23:58:22.038] [info] Accepted new action goal ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383176 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383176 ms (missed cycles : 3).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470665 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470665 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044657 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044657 ms (missed cycles : 2).[0m ×2 + 12.19sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.46sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.46sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787875104.75352287 seconds ×3 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850629 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850629 ms (missed cycles : 2).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557382 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557382 ms (missed cycles : 2).[0m ×2 + 15.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787875107.29568982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228175 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228175 ms (missed cycles : 3).[0m ×2 + 15.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 15.24sINFOros2_control_node[2026-08-27 23:58:27.509] [info] Received new action goal ×2 + 15.24sINFOros2_control_node[2026-08-27 23:58:27.509] [info] Accepted new action goal ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395687 ms (missed cycles : 3). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395687 ms (missed cycles : 3).[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185388 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185388 ms (missed cycles : 3).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.0s	9 errors · 60 warnings · 169 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470665 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044657 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044657 ms (missed cycles : 2).[0m ×2 + 1.18sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.45sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787875104.75352287 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850629 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850629 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557382 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557382 ms (missed cycles : 2).[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787875107.29568982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228175 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228175 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.23sINFOros2_control_node[2026-08-27 23:58:27.509] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-27 23:58:27.509] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395687 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395687 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185388 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185388 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552625 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552625 ms (missed cycles : 2).[0m ×2 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250343 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250343 ms (missed cycles : 2).[0m ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 1 iterations (0.00274545 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.94sINFOobjective_server_nodeFound path in 1 iterations (0.00473174 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 9.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.55sINFOros2_control_node[2026-08-27 23:58:32.822] [info] Received new action goal ×2 + 9.55sINFOros2_control_node[2026-08-27 23:58:32.822] [info] Accepted new action goal ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180710 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180710 ms (missed cycles : 2).[0m ×2 + 10.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071171 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071171 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074043 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074043 ms (missed cycles : 2).[0m ×2 + 12.23sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 12.23sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.23sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 12.23sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.25sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 12.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.36sINFOobjective_server_nodeFound path in 1 iterations (0.00363723 s). ×2 + 12.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.62sINFOros2_control_node[2026-08-27 23:58:35.902] [info] Received new action goal ×2 + 12.63sINFOros2_control_node[2026-08-27 23:58:35.902] [info] Accepted new action goal ×2 + 13.06sINFOros2_control_node[2026-08-27 23:58:36.333] [info] Received new action goal ×2 + 13.06sINFOros2_control_node[2026-08-27 23:58:36.334] [info] Accepted new action goal ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463029 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463029 ms (missed cycles : 2).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2).[0m ×2 + 14.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOros2_control_node[2026-08-27 23:58:37.686] [info] Got request to cancel active goal. ×2 + 14.41sINFOros2_control_node[2026-08-27 23:58:37.686] [info] Canceling active goal... ×2 + 14.42sERRORobjective_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: 1787875117.69468141 seconds ×3 + 14.70sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787875118.35383987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.23sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 15.24sINFOros2_control_node[2026-08-27 23:58:38.517] [info] Received new action goal ×2 + 15.24sINFOros2_control_node[2026-08-27 23:58:38.517] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966459 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966459 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259627 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259627 ms (missed cycles : 2).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180753 ms (missed cycles : 5). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180753 ms (missed cycles : 5).[0m ×2 + 17.75sINFOros2_control_node[2026-08-27 23:58:41.022] [info] Received new action goal ×2 + 17.75sINFOros2_control_node[2026-08-27 23:58:41.022] [info] Accepted new action goal ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 57 warnings · 178 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203440 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203440 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313429 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313429 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137444 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137444 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242906 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242906 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787875296.10335040 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787875296.76454234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-08-28 00:01:36.898] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-28 00:01:36.898] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282135 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282135 ms (missed cycles : 5).[0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675869 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675869 ms (missed cycles : 3).[0m ×2 + 6.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694095 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694095 ms (missed cycles : 4).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861838 ms (missed cycles : 6). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.861838 ms (missed cycles : 6).[0m ×2 + 7.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434353 ms (missed cycles : 5). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434353 ms (missed cycles : 5).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178543 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178543 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 14.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sERRORobjective_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: 1787875307.08480239 seconds ×3 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 15.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.64sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 16.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 16.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.49sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 16.49sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	6 errors · 57 warnings · 105 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341798 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341798 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125899 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125899 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907978 ms (missed cycles : 4). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907978 ms (missed cycles : 4).[0m ×2 + 10.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371709 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371709 ms (missed cycles : 4).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205318 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205318 ms (missed cycles : 3).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692775 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692775 ms (missed cycles : 2).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936107 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936107 ms (missed cycles : 3).[0m ×2 + 14.12sERRORobjective_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: 1787875285.57992005 seconds ×3 + 14.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787875286.18773055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602824 ms (missed cycles : 6). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602824 ms (missed cycles : 6).[0m ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.05sINFOros2_control_node[2026-08-28 00:01:26.506] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-08-28 00:01:26.506] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033525 ms (missed cycles : 3). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033525 ms (missed cycles : 3).[0m ×2 + 16.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777828 ms (missed cycles : 3). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777828 ms (missed cycles : 3).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.9s	3 errors · 54 warnings · 165 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 6.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.72sINFOros2_control_node[2026-08-27 23:58:08.722] [info] Received new action goal ×2 + 6.72sINFOros2_control_node[2026-08-27 23:58:08.722] [info] Accepted new action goal ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257518 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257518 ms (missed cycles : 3).[0m ×2 + 7.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908756 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.908756 ms (missed cycles : 3).[0m ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 9.05sINFOros2_control_node[2026-08-27 23:58:11.057] [info] Received new action goal ×2 + 9.05sINFOros2_control_node[2026-08-27 23:58:11.057] [info] Accepted new action goal ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759902 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759902 ms (missed cycles : 2).[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 11.40sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 11.40sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 13.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.57sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 13.57sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 13.58sERRORobjective_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: 1787875095.58842707 seconds ×3 + 14.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 14.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.43sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.7s	3 errors · 57 warnings · 332 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sWARNros2_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 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.60sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 3.60sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 5.91sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.12sINFOros2_control_node[2026-08-27 23:57:38.189] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-08-27 23:57:38.189] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144539 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144539 ms (missed cycles : 3).[0m ×2 + 7.42sWARNros2_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 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275813 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275813 ms (missed cycles : 4).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937712 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937712 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[0m ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 9.87sINFOros2_control_node[2026-08-27 23:57:41.939] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-08-27 23:57:41.939] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.20sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 13.20sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 13.36sWARNros2_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 + 13.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.52sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 13.52sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 13.53sERRORobjective_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: 1787875065.60145521 seconds ×3 + 13.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 14.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 14.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 15.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.11sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 55 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371709 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371709 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205318 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205318 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692775 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692775 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936107 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936107 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sERRORobjective_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: 1787875285.57992005 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787875286.18773055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602824 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602824 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.42sINFOros2_control_node[2026-08-28 00:01:26.506] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-28 00:01:26.506] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033525 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033525 ms (missed cycles : 3).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777828 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777828 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157185 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157185 ms (missed cycles : 3).[0m ×2 + 8.43sINFOros2_control_node[2026-08-28 00:01:30.518] [info] Received new action goal ×2 + 8.43sINFOros2_control_node[2026-08-28 00:01:30.518] [info] Accepted new action goal ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.301062 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.301062 ms (missed cycles : 5).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431087 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431087 ms (missed cycles : 2).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203440 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203440 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313429 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313429 ms (missed cycles : 3).[0m ×2 + 12.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137444 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137444 ms (missed cycles : 3).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242906 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242906 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787875296.10335040 seconds ×3 + 14.68sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787875296.76454234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 14.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.81sINFOros2_control_node[2026-08-28 00:01:36.898] [info] Received new action goal ×2 + 14.81sINFOros2_control_node[2026-08-28 00:01:36.898] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282135 ms (missed cycles : 5). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282135 ms (missed cycles : 5).[0m ×2 + 15.89sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675869 ms (missed cycles : 3). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675869 ms (missed cycles : 3).[0m ×2 + 16.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694095 ms (missed cycles : 4). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694095 ms (missed cycles : 4).[0m ×2
✓ passed	Look at Table	look_at_table.xml	3.7s	6 errors · 34 warnings · 176 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787875129.59403348 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.14sINFOros2_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 + 2.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787875130.26326871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787875130.32339025 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787875130.91877389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Accepted new action goal ×2 + 3.71sWARNros2_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 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.16sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 7.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 7.96sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.04sINFOobjective_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 + 8.05sINFOobjective_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 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.38sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 8.38sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 9.86sWARNros2_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	Take Scene Camera Snapshot	take_snap.xml	2.1s	3 errors · 31 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3).[0m ×2 + 2.26sWARNros2_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 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787875319.58624029 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875320.18187332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875321.73201084 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875322.33333898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.31sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875322.33519697 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787875323.06092477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787875323.06137514 seconds ×3 + 7.27sWARNros2_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 + 7.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787875323.65587115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4).[0m ×2 + 8.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787875324.87628746 seconds ×3 + 8.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Close Gripper	close_gripper.xml	1.7s	34 warnings · 592 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.06sINFOobjective_server_node[2026-08-27 23:57:27.453] [moveit_pro_license] [info] ×2 + 0.06sINFOobjective_server_node************************************************* ×4 + 0.06sINFOobjective_server_node* MoveIt Pro License ×2 + 0.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.17sINFOobjective_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 + 0.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.18sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.18sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.38sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.38sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.55sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.56sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.56sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.56sWARNros2_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 + 0.56sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.56sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.56sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.56sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.56sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.56sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.56sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.56sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.56sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.56sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.56sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.56sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.56sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.56sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.56sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.56sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.56sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.56sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.56sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.58sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.58sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.58sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.72sINFOcomponent_container_mt[2026-08-27 23:57:28.119] [moveit_pro_license] [info] ×2 + 0.72sINFOcomponent_container_mt************************************************* ×4 + 0.72sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.72sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.86sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 8589] ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 1.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 1.09sINFOros2_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 + 1.09sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.09sWARNros2_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 + 1.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.12sINFOros2_control_node[2026-08-27 23:57:28.517] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.12sINFOros2_control_node[2026-08-27 23:57:28.517] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.15sINFOros2_control_node[2026-08-27 23:57:28.542] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.15sINFOros2_control_node[2026-08-27 23:57:28.542] [info] Controller state will be published at 50 Hz. ×2 + 1.15sINFOros2_control_node[2026-08-27 23:57:28.549] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687298 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687298 ms (missed cycles : 2).[0m ×2 + 1.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 1.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 1.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.50sINFOros2-6process has finished cleanly [pid 8593] ×2 + 1.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.52sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.84sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 1.84sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 1.85sINFOros2-3process has finished cleanly [pid 8590] ×2 + 1.88sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.88sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.19sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.19sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.21sINFOros2-4process has finished cleanly [pid 8591] ×2 + 2.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 2.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 2.30sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.31sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.33sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 + 2.33sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.66sINFOros2-7process has finished cleanly [pid 8594] ×2 + 2.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 2.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 2.73sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.73sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.73sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.73sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.73sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.73sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.73sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.73sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.73sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.74sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.74sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.74sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.75sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.75sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.09sINFOros2-5process has finished cleanly [pid 8592] ×2 + 3.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 3.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 3.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.23sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 3.23sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.56sINFOros2-8process has finished cleanly [pid 8595] ×2 + 3.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sWARNros2_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 + 6.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 6.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 8.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sINFOobjective_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 + 8.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.28sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	23 warnings · 100 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339458 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339458 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787875129.59403348 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787875130.26326871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787875130.32339025 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787875130.91877389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.57sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.7s	3 errors · 26 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5).[0m ×2 + 0.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Got request to cancel active goal. ×2 + 0.13sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Canceling active goal... ×2 + 0.14sERRORobjective_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: 1787875319.58624029 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875320.18187332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875321.73201084 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875322.33333898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.88sINFOobjective_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 + 2.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875322.33519697 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787875323.06092477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787875323.06137514 seconds ×3 + 3.84sWARNros2_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 + 4.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787875323.65587115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787875324.87628746 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480077 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480077 ms (missed cycles : 4).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081755 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081755 ms (missed cycles : 5).[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 2.45sWARNros2_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 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 2.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 26 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sERRORobjective_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: 1787875307.08480239 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	23 warnings · 87 info
+ 0.00sINFOros2_control_node[2026-08-27 23:58:00.659] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-27 23:58:00.659] [info] Accepted new action goal ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127367 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127367 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.71sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	23 warnings · 398 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8590] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 8591] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 + 0.50sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 8594] ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.91sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 8592] ×2 + 1.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 1.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.72sINFOros2-8process has finished cleanly [pid 8595] ×2 + 1.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNros2_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 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×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 2.675485 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 2.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sERRORobjective_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: 1787875307.08480239 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.76sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4).[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 26 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Got request to cancel active goal. ×2 + 1.35sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Canceling active goal... ×2 + 1.35sERRORobjective_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: 1787875319.58624029 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875320.18187332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875321.73201084 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875322.33333898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.10sINFOobjective_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 + 4.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875322.33519697 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787875323.06092477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787875323.06137514 seconds ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787875323.65587115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390764 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787875324.87628746 seconds ×3 + 6.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480077 ms (missed cycles : 4).
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.1s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 2.45sWARNros2_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 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 2.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479827 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 2.45sWARNros2_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 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 2.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[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 4.221398 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[0m ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	23 warnings · 100 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339458 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339458 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890337 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898184 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787875129.59403348 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393798 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787875130.26326871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787875130.32339025 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787875130.91877389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.57sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	6 errors · 20 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.74sINFOobjective_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 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_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	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	6 errors · 20 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.74sINFOobjective_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 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_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	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	6 errors · 20 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.74sINFOobjective_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 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_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	Move Along Square	move_along_square.xml	0.0s	6 errors · 20 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.74sINFOobjective_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 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_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	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	25 warnings · 2313 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×374 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×374 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×748 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×748 + 0.04sWARNros2_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 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787875255.25428843 seconds ×3 + 3.63sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.63sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.63sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787875255.89032459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 5 iterations (0.00605827 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.55sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 23 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371709 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371709 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205318 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205318 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692775 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692775 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936107 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936107 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sERRORobjective_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: 1787875285.57992005 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787875286.18773055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602824 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602824 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.42sINFOros2_control_node[2026-08-28 00:01:26.506] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-28 00:01:26.506] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033525 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033525 ms (missed cycles : 3).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777828 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777828 ms (missed cycles : 3).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 23 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sERRORobjective_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: 1787875307.08480239 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 23 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sERRORobjective_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: 1787875307.08480239 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[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 4.221398 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221398 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944651 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Received new action goal ×2 + 1.28sINFOros2_control_node[2026-08-27 23:57:45.269] [info] Accepted new action goal ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Got request to cancel active goal. ×2 + 1.59sINFOros2_control_node[2026-08-27 23:57:45.585] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1787875065.60145521 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258890 ms (missed cycles : 6).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875066.19964480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875066.31976080 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875066.98603606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.373044 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-08-27 23:57:47.180] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881854 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799184 ms (missed cycles : 3).[0m ×2
− skipped	Collect Training Data with Behaviors	collect_training_data_with_behaviors.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2).[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-27 23:58:02.571] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493589 ms (missed cycles : 4).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787875083.95832229 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787875084.60127354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787875084.65149355 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094140 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787875085.24565578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-27 23:58:05.370] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811074 ms (missed cycles : 3).[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907268 ms (missed cycles : 3).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674585 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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[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 5.775023 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775023 ms (missed cycles : 4).[0m ×2 + 1.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677827 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-08-27 23:58:13.407] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815223 ms (missed cycles : 2).[0m ×2 + 3.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871962 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-27 23:58:15.575] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1787875095.58842707 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787875096.23162651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-27 23:58:16.435] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069307 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677575 ms (missed cycles : 3).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515606 ms (missed cycles : 4).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 20 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074043 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074043 ms (missed cycles : 2).[0m ×2 + 0.51sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 0.51sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.51sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 0.52sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 0.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.64sINFOobjective_server_nodeFound path in 1 iterations (0.00363723 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOros2_control_node[2026-08-27 23:58:35.902] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-27 23:58:35.902] [info] Accepted new action goal ×2 + 1.34sINFOros2_control_node[2026-08-27 23:58:36.333] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-08-27 23:58:36.334] [info] Accepted new action goal ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463029 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463029 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306217 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOros2_control_node[2026-08-27 23:58:37.686] [info] Got request to cancel active goal. ×2 + 2.69sINFOros2_control_node[2026-08-27 23:58:37.686] [info] Canceling active goal... ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787875117.69468141 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787875118.35383987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.52sINFOros2_control_node[2026-08-27 23:58:38.517] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-08-27 23:58:38.517] [info] Accepted new action goal ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966459 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966459 ms (missed cycles : 2).[0m ×2 + 4.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259627 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259627 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180753 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180753 ms (missed cycles : 5).[0m ×2 + 6.03sINFOros2_control_node[2026-08-27 23:58:41.022] [info] Received new action goal ×2 + 6.03sINFOros2_control_node[2026-08-27 23:58:41.022] [info] Accepted new action goal ×2
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	6 errors · 25 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457174 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787875130.91877389 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-27 23:58:51.042] [info] Accepted new action goal ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.76sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.09sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 6.57sWARNros2_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	ML Segment Image	ml_segment_image.xml	0.0s	6 errors · 20 warnings · 79 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037838 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933520 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787875133.05212879 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112374 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787875134.64938307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787875134.69953895 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040874 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787875135.50303650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.74sINFOobjective_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 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-27 23:58:55.921] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978486 ms (missed cycles : 3).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_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	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	22 warnings · 71 info
+ 0.00sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.01sINFOros2_control_node[2026-08-27 23:59:44.988] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-08-27 23:59:44.988] [info] Accepted new action goal ×2 + 0.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.413724 ms (missed cycles : 6). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.413724 ms (missed cycles : 6).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221872 ms (missed cycles : 4). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221872 ms (missed cycles : 4).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170510 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170510 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787875188.59305358 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069371 ms (missed cycles : 7). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.069371 ms (missed cycles : 7).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787875189.19864655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.42sINFOros2_control_node[2026-08-27 23:59:49.402] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-27 23:59:49.402] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173451 ms (missed cycles : 4). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173451 ms (missed cycles : 4).[0m ×2 + 5.69sINFOobjective_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 + 5.70sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406910 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406910 ms (missed cycles : 2).[0m ×2 + 6.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	25 warnings · 2313 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×374 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×374 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×748 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×748 + 0.04sWARNros2_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 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352070 ms (missed cycles : 4).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053495 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885519 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961205 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787875255.25428843 seconds ×3 + 3.63sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.63sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.63sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787875255.89032459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 5 iterations (0.00605827 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326773 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.55sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-28 00:00:56.176] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903994 ms (missed cycles : 5).[0m ×2 + 5.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735030 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	6 errors · 20 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3).[0m ×2 + 2.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found ×3 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick 1 Pill Bottle with SAM3` did not succeed at time: 1787875263.41049027 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787875264.09162593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	6 errors · 20 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373859 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990291 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732370 ms (missed cycles : 3).[0m ×2 + 2.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found ×3 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick 1 Pill Bottle with SAM3` did not succeed at time: 1787875263.41049027 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.540371 ms (missed cycles : 8).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787875264.09162593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-28 00:01:04.295] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880303 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991047 ms (missed cycles : 4).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 23 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343468 ms (missed cycles : 2).[0m ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-28 00:01:12.001] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038562 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776561 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-28 00:01:13.915] [info] Accepted new action goal ×2 + 3.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:01:14.581] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1787875274.60625839 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156519 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787875275.26951957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:01:15.468] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675593 ms (missed cycles : 2).[0m ×2 + 4.74sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488157 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605730 ms (missed cycles : 3).[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	23 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203440 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203440 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313429 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313429 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137444 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137444 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242906 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242906 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787875296.10335040 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787875296.76454234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-08-28 00:01:36.898] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-28 00:01:36.898] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282135 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.282135 ms (missed cycles : 5).[0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675869 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675869 ms (missed cycles : 3).[0m ×2 + 6.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694095 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694095 ms (missed cycles : 4).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 23 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sERRORobjective_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: 1787875307.08480239 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 23 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283085 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675485 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 2.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sERRORobjective_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: 1787875307.08480239 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 4.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 20 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sERRORobjective_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: 1787875307.08480239 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 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 7.240777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sERRORobjective_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: 1787875307.08480239 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 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 7.240777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240777 ms (missed cycles : 5).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978025 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sERRORobjective_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: 1787875307.08480239 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786880 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875307.72183061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875307.80195236 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875308.39481020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875308.41718554 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866725 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875309.15201235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-28 00:01:49.266] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936950 ms (missed cycles : 5).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045379 ms (missed cycles : 4).[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 26 warnings · 100 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3).[0m ×2 + 2.26sWARNros2_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 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787875319.58624029 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.58sINFOros2_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 ×6 + 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 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875320.18187332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875321.73201084 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875322.33333898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.31sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875322.33519697 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3).[0m ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 26 warnings · 100 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066707 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577860 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013439 ms (missed cycles : 3).[0m ×2 + 2.26sWARNros2_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 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156951 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-28 00:01:59.582] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787875319.58624029 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.58sINFOros2_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 ×6 + 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 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875320.18187332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195235 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757287 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875321.73201084 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875322.33333898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.31sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875322.33519697 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961203 ms (missed cycles : 3).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	8.5s	41 errors · 356 warnings · 12078 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-27-23-52-27-646318-4cff1bbb0d45-7253 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 1.96sINFOros2_control_node-1process started with pid [7301] + 1.96sINFOmove_group-9process started with pid [7338] + 1.96sINFOparameter_manager_node-10process started with pid [7339] + 1.96sINFOwaypoint_manager_node-11process started with pid [7340] + 1.96sINFOmove_joint_resampler_node-12process started with pid [7341] + 1.96sINFOmove_end_effector_resampler_node-13process started with pid [7342] + 1.96sINFOobjective_server_node_main-14process started with pid [7343] + 1.96sINFOcomponent_container_mt-15process started with pid [7344] + 1.96sINFOcomponent_container_mt-16process started with pid [7345] + 1.96sINFOexecute_objective_bridge-17process started with pid [7346] + 1.96sINFOui_teleop_bridge-18process started with pid [7347] + 1.96sINFOweb_bridge-19process started with pid [7348] + 1.98sINFOtf2_web_republisher_node-20process started with pid [7412] + 1.98sINFOvideo_server-21process started with pid [7413] + 1.98sINFOweb_bridge_auth_proxy-22process started with pid [7414] + 1.98sINFOweb_video_auth_proxy-23process started with pid [7434] + 1.98sINFOros2-2process started with pid [7302] + 1.98sINFOros2-3process started with pid [7303] + 1.98sINFOros2-4process started with pid [7304] + 1.98sINFOros2-5process started with pid [7305] + 1.98sINFOros2-6process started with pid [7306] + 1.98sINFOros2-7process started with pid [7307] + 1.99sINFOros2-8process started with pid [7308] + 2.04sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 2.04sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 2.04sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 2.04sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 2.04sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 2.04sWARNros2_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 ×3 + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102555 ms (missed cycles : 2).[0m + 2.04sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 2.05sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 2.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 2.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 2.20sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 2.58sINFOvideo_server2026/08/27 23:52:30 INF MediaMTX v1.19.3, linux, amd64 + 2.58sINFOvideo_server2026/08/27 23:52:30 INF configuration loaded from /tmp/moveit-webrtc-a4p01p3s/mediamtx.yml + 2.58sINFOvideo_server2026/08/27 23:52:30 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 2.58sINFOvideo_server2026/08/27 23:52:30 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 2.97sINFOmove_group[2026-08-27 23:52:31.300] [moveit_pro_license] [info] + 2.97sINFOmove_group************************************************* ×6 + 2.97sINFOmove_group* MoveIt Pro License ×3 + 2.97sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.11sINFOwaypoint_manager_node[2026-08-27 23:52:31.456] [moveit_pro_license] [info] + 3.11sINFOwaypoint_manager_node************************************************* ×6 + 3.11sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 3.12sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 3.31sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.31sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 3.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 3.35sINFOros2_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 ×3 + 3.36sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 3.37sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 3.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 3.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 3.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 3.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 3.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 3.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 3.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 3.56sINFOmove_group ×6 + 3.56sINFOmove_group[92mYou can start planning now![0m ×3 + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608243 ms (missed cycles : 3).[0m + 3.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 4.97sINFOobjective_server_node[2026-08-27 23:52:33.313] [moveit_pro_license] [info] + 4.97sINFOobjective_server_node************************************************* ×8 + 4.97sINFOobjective_server_node* MoveIt Pro License ×4 + 4.97sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.09sINFOobjective_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. ×3 + 5.09sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 5.10sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 5.10sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 5.30sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 5.37sINFOcomponent_container_mt[2026-08-27 23:52:33.710] [moveit_pro_license] [info] + 5.37sINFOcomponent_container_mt************************************************* ×6 + 5.37sINFOcomponent_container_mt* MoveIt Pro License ×3 + 5.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.38sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 5.38sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 5.39sWARNros2_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: ×3 + 5.39sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×3 + 5.39sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×3 + 5.39sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 5.39sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 5.39sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 5.39sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 5.39sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×3 + 5.39sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×3 + 5.39sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 5.39sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 5.39sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 5.39sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 5.39sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 5.39sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 5.39sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 5.39sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 5.51sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 5.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 5.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7plrzaae --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r4hy0l5u --params-file /tmp/launch_params_y80lfjvg [0m + 5.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 5.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 5.64sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 5.66sINFOros2_control_node[2026-08-27 23:52:34.006] [info] Controller state will be published at 10 Hz. + 5.67sINFOros2_control_node[2026-08-27 23:52:34.006] [info] VelocityForceController 'on_configure' succeeded. + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977370 ms (missed cycles : 2).[0m + 5.91sINFOros2_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 ×3 + 5.91sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 5.91sWARNros2_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 ×3 + 5.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 5.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 5.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7plrzaae --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r4hy0l5u --params-file /tmp/launch_params_y80lfjvg [0m + 5.98sINFOros2-7process has finished cleanly [pid 7307] + 6.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 6.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 6.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 6.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×115 + 6.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 6.30sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 6.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 6.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7plrzaae --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r4hy0l5u --params-file /tmp/launch_params_y80lfjvg [0m + 6.33sINFOros2-4process has finished cleanly [pid 7304] + 6.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 6.36sINFOros2_control_nodeconfigure successful[0m ×3 + 6.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 6.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.68sINFOros2-2process has finished cleanly [pid 7302] + 6.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 6.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 6.69sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7plrzaae --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r4hy0l5u --params-file /tmp/launch_params_y80lfjvg [0m + 6.76sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 6.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 6.76sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 6.76sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 6.77sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 6.77sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 6.77sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 6.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×6 + 6.78sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458882 ms (missed cycles : 4).[0m + 7.10sINFOros2-5process has finished cleanly [pid 7305] + 7.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 7.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 7.18sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7plrzaae --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r4hy0l5u --params-file /tmp/launch_params_y80lfjvg [0m + 7.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 7.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 7.22sINFOros2_control_node[2026-08-27 23:52:35.564] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 7.22sINFOros2_control_node[2026-08-27 23:52:35.564] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 7.23sWARNobjective_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/. ×3 + 7.25sINFOros2_control_node[2026-08-27 23:52:35.588] [info] First order lag filter time constant set to: 0.2 seconds + 7.25sINFOros2_control_node[2026-08-27 23:52:35.588] [info] Controller state will be published at 50 Hz. + 7.25sINFOros2_control_node[2026-08-27 23:52:35.593] [info] Registered `FollowJointTrajectory` action server. + 7.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 7.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 7.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×86 + 7.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×46 + 7.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×44 + 7.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×3 + 7.59sINFOros2-6process has finished cleanly [pid 7306] + 7.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 7.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 7.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7plrzaae --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r4hy0l5u --params-file /tmp/launch_params_y80lfjvg [0m + 7.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 7.65sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 7.67sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 7.67sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 7.67sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 7.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×5 + 7.68sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 7.99sINFOros2-3process has finished cleanly [pid 7303] + 8.01sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.01sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 8.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7plrzaae --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_r4hy0l5u --params-file /tmp/launch_params_y80lfjvg [0m + 8.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 8.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 8.15sINFOros2_control_node[2026-08-27 23:52:36.487] [info] Controller state will be published at 20 Hz. + 8.15sINFOros2_control_node[2026-08-27 23:52:36.487] [info] JointVelocityController 'on_configure' succeeded. + 8.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787874756.54406929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787874756.55428505 seconds + 8.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 8.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 8.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 8.46sINFOros2-8process has finished cleanly [pid 7308] + 8.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787874757.13855624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×22 + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775589 ms (missed cycles : 4).[0m + 9.69sWARNros2_control_nodeCamera render tick took 1.92 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 + 9.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787874758.19868994 seconds + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362274 ms (missed cycles : 2).[0m + 10.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787874758.82524323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787874758.88539338 seconds + 10.94sWARNros2_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 ×5 + 11.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787874759.53542614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787874759.55554008 seconds + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061190 ms (missed cycles : 2).[0m + 11.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787874760.26876354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787874760.41928887 seconds + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.104471 ms (missed cycles : 5).[0m + 12.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787874761.08927393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m + 12.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 12.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 12.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787874761.12939787 seconds + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088768 ms (missed cycles : 2).[0m + 13.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787874761.75252533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 13.42sINFOobjective_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 + 13.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 13.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×3 + 13.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 13.53sINFOobjective_server_nodeFound path in 0 iterations (2.1794e-05 s). + 13.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 13.55sINFOros2_control_node[2026-08-27 23:52:41.888] [info] Received new action goal + 13.55sINFOros2_control_node[2026-08-27 23:52:41.888] [info] Accepted new action goal + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877453 ms (missed cycles : 2).[0m + 15.41sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150405 ms (missed cycles : 2).[0m + 15.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×37 + 16.04sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). + 16.05sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 16.07sINFOros2_control_node[2026-08-27 23:52:44.406] [info] Received new action goal + 16.07sINFOros2_control_node[2026-08-27 23:52:44.406] [info] Accepted new action goal + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573623 ms (missed cycles : 2).[0m + 17.03sWARNros2_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 ×5 + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004421 ms (missed cycles : 3).[0m + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637282 ms (missed cycles : 4).[0m + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715560 ms (missed cycles : 5).[0m + 19.82sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). + 19.86sINFOros2_control_node[2026-08-27 23:52:48.197] [info] Received new action goal + 19.86sINFOros2_control_node[2026-08-27 23:52:48.197] [info] Accepted new action goal + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114057 ms (missed cycles : 2).[0m + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065713 ms (missed cycles : 3).[0m + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862286 ms (missed cycles : 3).[0m + 23.17sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). + 23.17sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 23.19sINFOros2_control_node[2026-08-27 23:52:51.527] [info] Received new action goal + 23.19sINFOros2_control_node[2026-08-27 23:52:51.527] [info] Accepted new action goal + 23.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×7 + 23.71sINFOros2_control_node[2026-08-27 23:52:52.053] [info] Got request to cancel active goal. + 23.71sINFOros2_control_node[2026-08-27 23:52:52.053] [info] Canceling active goal... + 23.73sERRORobjective_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: 1787874772.06893539 seconds + 23.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 23.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 23.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×26 + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071441 ms (missed cycles : 2).[0m + 24.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787874772.71278811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 24.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787874772.82290435 seconds + 25.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787874773.44706321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852264 ms (missed cycles : 2).[0m + 25.30sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). + 25.30sINFOobjective_server_nodePath shortcutter: [X______X] ×5 + 25.31sINFOros2_control_node[2026-08-27 23:52:53.650] [info] Received new action goal + 25.31sINFOros2_control_node[2026-08-27 23:52:53.650] [info] Accepted new action goal + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932683 ms (missed cycles : 4).[0m + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350609 ms (missed cycles : 2).[0m + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791609 ms (missed cycles : 2).[0m + 29.10sWARNros2_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 ×6 + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677165 ms (missed cycles : 3).[0m + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226061 ms (missed cycles : 2).[0m + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622784 ms (missed cycles : 3).[0m + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812706 ms (missed cycles : 3).[0m + 33.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 33.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 34.26sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). + 34.27sINFOobjective_server_nodePath shortcutter: [X__________X] ×5 + 34.28sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). + 34.30sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). + 34.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 34.40sINFOobjective_server_nodeFound path in 1 iterations (0.00306571 s). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420608 ms (missed cycles : 5).[0m + 34.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 34.65sINFOros2_control_node[2026-08-27 23:53:02.989] [info] Received new action goal + 34.65sINFOros2_control_node[2026-08-27 23:53:02.989] [info] Accepted new action goal + 35.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.571715 ms (missed cycles : 5).[0m + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747244 ms (missed cycles : 2).[0m + 37.12sINFOros2_control_node[2026-08-27 23:53:05.462] [info] Received new action goal + 37.12sINFOros2_control_node[2026-08-27 23:53:05.462] [info] Accepted new action goal + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960056 ms (missed cycles : 2).[0m + 38.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633562 ms (missed cycles : 3).[0m + 38.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 38.99sINFOros2_control_node[2026-08-27 23:53:07.334] [info] Received new action goal + 38.99sINFOros2_control_node[2026-08-27 23:53:07.334] [info] Accepted new action goal + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543457 ms (missed cycles : 5).[0m + 40.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787874788.72103548 seconds + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772897 ms (missed cycles : 4).[0m + 41.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787874789.33970523 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 41.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787874789.41992712 seconds + 41.73sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787874790.06892085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 41.84sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×3 + 41.84sINFOobjective_server_nodePath shortcutter: [X_____________X] + 41.86sINFOros2_control_node[2026-08-27 23:53:10.203] [info] Received new action goal + 41.86sINFOros2_control_node[2026-08-27 23:53:10.203] [info] Accepted new action goal + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406473 ms (missed cycles : 2).[0m + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279347 ms (missed cycles : 5).[0m + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.227014 ms (missed cycles : 6).[0m + 45.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). + 45.21sINFOros2_control_node[2026-08-27 23:53:13.552] [info] Received new action goal + 45.21sINFOros2_control_node[2026-08-27 23:53:13.552] [info] Accepted new action goal + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608680 ms (missed cycles : 4).[0m + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222999 ms (missed cycles : 6).[0m + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457122 ms (missed cycles : 3).[0m + 47.54sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 47.55sINFOros2_control_node[2026-08-27 23:53:15.890] [info] Received new action goal + 47.55sINFOros2_control_node[2026-08-27 23:53:15.890] [info] Accepted new action goal + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960045 ms (missed cycles : 3).[0m + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854056 ms (missed cycles : 2).[0m + 49.91sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). + 49.92sINFOros2_control_node[2026-08-27 23:53:18.260] [info] Received new action goal + 49.92sINFOros2_control_node[2026-08-27 23:53:18.260] [info] Accepted new action goal + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340504 ms (missed cycles : 2).[0m + 51.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792752 ms (missed cycles : 2).[0m + 52.17sERRORobjective_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: 1787874800.50906205 seconds + 52.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907128 ms (missed cycles : 2).[0m + 52.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787874801.16730976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 53.01sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). + 53.02sINFOros2_control_node[2026-08-27 23:53:21.361] [info] Received new action goal + 53.02sINFOros2_control_node[2026-08-27 23:53:21.361] [info] Accepted new action goal + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375842 ms (missed cycles : 2).[0m + 54.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420909 ms (missed cycles : 4).[0m + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475187 ms (missed cycles : 5).[0m + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327694 ms (missed cycles : 4).[0m + 57.63sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 57.64sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 57.64sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 57.74sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). + 57.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 57.82sINFOobjective_server_nodeFound path in 1 iterations (0.00277613 s). + 58.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 58.03sINFOobjective_server_nodeFound path in 1 iterations (0.00445641 s). + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294283 ms (missed cycles : 5).[0m + 58.16sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 58.18sINFOobjective_server_nodeFound path in 0 iterations (8.92e-07 s). + 58.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 58.35sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 58.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 58.62sINFOros2_control_node[2026-08-27 23:53:26.964] [info] Received new action goal + 58.62sINFOros2_control_node[2026-08-27 23:53:26.964] [info] Accepted new action goal + 59.11sWARNros2_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 ×3 + 59.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644405 ms (missed cycles : 3).[0m + 60.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.706742 ms (missed cycles : 7).[0m + 61.04sINFOparameter_manager_nodeRetrieving pose from parameter manager. + 61.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 61.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server + 61.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787874809.68451571 seconds + 61.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640822 ms (missed cycles : 4).[0m + 62.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890164 ms (missed cycles : 5).[0m + 63.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743638 ms (missed cycles : 2).[0m + 63.85sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787874812.18922544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 64.04sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). + 64.05sINFOros2_control_node[2026-08-27 23:53:32.394] [info] Received new action goal + 64.05sINFOros2_control_node[2026-08-27 23:53:32.394] [info] Accepted new action goal + 64.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031679 ms (missed cycles : 2).[0m + 65.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.922465 ms (missed cycles : 7).[0m + 66.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311177 ms (missed cycles : 2).[0m + 67.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069709 ms (missed cycles : 2).[0m + 67.86sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). + 67.89sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). + 67.97sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). + 68.07sINFOobjective_server_nodeFound path in 1 iterations (0.00352903 s). + 68.26sINFOobjective_server_nodeFound path in 1 iterations (0.00434065 s). + 68.41sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). + 68.58sINFOobjective_server_nodeFound path in 0 iterations (5.73e-07 s). + 68.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.966785 ms (missed cycles : 7).[0m + 68.87sINFOros2_control_node[2026-08-27 23:53:37.216] [info] Received new action goal + 68.87sINFOros2_control_node[2026-08-27 23:53:37.216] [info] Accepted new action goal + 69.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852828 ms (missed cycles : 3).[0m + 71.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791328 ms (missed cycles : 2).[0m + 71.57sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). + 71.57sINFOobjective_server_nodePath shortcutter: [X_X] + 71.57sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). + 71.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 71.58sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). + 71.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 71.70sINFOobjective_server_nodeFound path in 1 iterations (0.00324788 s). + 71.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] + 71.98sINFOros2_control_node[2026-08-27 23:53:40.317] [info] Received new action goal + 71.98sINFOros2_control_node[2026-08-27 23:53:40.317] [info] Accepted new action goal + 72.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752515 ms (missed cycles : 5).[0m + 72.41sINFOros2_control_node[2026-08-27 23:53:40.748] [info] Received new action goal + 72.41sINFOros2_control_node[2026-08-27 23:53:40.748] [info] Accepted new action goal + 73.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407449 ms (missed cycles : 5).[0m + 74.11sINFOros2_control_nodeGot request to cancel goal[0m ×15 + 74.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×8 + 74.15sERRORobjective_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: 1787874822.49397969 seconds + 74.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223135 ms (missed cycles : 5).[0m + 74.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787874823.27517247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.12sINFOros2_control_node[2026-08-27 23:53:43.458] [info] Received new action goal + 75.12sINFOros2_control_node[2026-08-27 23:53:43.458] [info] Accepted new action goal + 75.41sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m + 75.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861137 ms (missed cycles : 3).[0m + 76.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226072 ms (missed cycles : 2).[0m + 77.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243018 ms (missed cycles : 3).[0m + 77.63sINFOros2_control_node[2026-08-27 23:53:45.974] [info] Received new action goal + 77.63sINFOros2_control_node[2026-08-27 23:53:45.974] [info] Accepted new action goal + 78.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937152 ms (missed cycles : 5).[0m + 79.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427691 ms (missed cycles : 2).[0m + 80.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188130 ms (missed cycles : 2).[0m + 81.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394391 ms (missed cycles : 2).[0m + 82.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693094 ms (missed cycles : 4).[0m + 82.94sWARNros2_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 + 84.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683434 ms (missed cycles : 2).[0m + 85.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100379 ms (missed cycles : 7).[0m + 86.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761639 ms (missed cycles : 4).[0m + 86.20sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787874834.54626727 seconds + 86.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787874835.20353055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 86.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 86.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 86.91sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 86.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787874835.26372147 seconds + 87.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856502 ms (missed cycles : 2).[0m + 87.52sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787874835.86629176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 87.67sINFOobjective_server_nodeFound path in 0 iterations (6.49e-07 s). + 87.69sINFOros2_control_node[2026-08-27 23:53:56.030] [info] Received new action goal + 87.69sINFOros2_control_node[2026-08-27 23:53:56.030] [info] Accepted new action goal + 88.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728460 ms (missed cycles : 5).[0m + 89.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410913 ms (missed cycles : 3).[0m + 89.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787874838.03644609 seconds + 90.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479044 ms (missed cycles : 4).[0m + 91.30sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787874839.63950849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 91.35sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found, searching: [/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_accessories, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/ur_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_description, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/robotiq_controllers, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim_behaviors, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_lrmate200id_support, /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/fanuc_resources, /opt/overlay_ws/install/velocity_force_controller, /opt/overlay_ws/install/moveit_studio_train_server, /opt/overlay_ws/install/moveit_studio_rest_api, /opt/overlay_ws/install/moveit_pro_py, /opt/overlay_ws/install/moveit_pro_objectives, /opt/overlay_ws/install/core_integration_config, /opt/overlay_ws/install/moveit_pro_behavior, /opt/overlay_ws/install/trajectory_blending, /opt/overlay_ws/install/terminal_service, /opt/overlay_ws/install/moveit_pro_mtc_wrappers, /opt/overlay_ws/install/pro_rrt, /opt/overlay_ws/install/scenario_logging, /opt/overlay_ws/install/rrtstar, /opt/overlay_ws/install/rrtconnect, /opt/overlay_ws/install/moveit_pro_ml_ros, /opt/overlay_ws/install/joint_velocity_controller, /opt/overlay_ws/install/joint_trajectory_admittance_controller, /opt/overlay_ws/install/ros2_control_utils, /opt/overlay_ws/install/moveit_studio_agent, /opt/overlay_ws/install/quest_oculus, /opt/overlay_ws/install/pose_ik, /opt/overlay_ws/install/picknik_mujoco_ros, /opt/overlay_ws/install/moveit_pro_behavior_interface, /opt/overlay_ws/install/moveit_pro_mpc, /opt/overlay_ws/install/picknik_mujoco_mpc, /opt/overlay_ws/install/mujoco_package_uri, /opt/overlay_ws/install/picknik_mujoco, /opt/overlay_ws/install/moveit_pro_planners_behavior_utils, /opt/overlay_ws/install/path_ik, /opt/overlay_ws/install/moveit_studio_converter_behavior, /opt/overlay_ws/install/moveit_pro_test_utils, /opt/overlay_ws/install/moveit_studio_internal_msgs, /opt/overlay_ws/install/moveit_pro_task_constructor_visualization, /opt/overlay_ws/install/moveit_pro_task_constructor_core, /opt/overlay_ws/install/moveit_task_constructor_msgs, /opt/overlay_ws/install/moveit_studio_vision, /opt/overlay_ws/install/moveit_studio_plugins, /opt/overlay_ws/install/moveit_studio_msgs, /opt/overlay_ws/install/moveit_pro_common, /opt/overlay_ws/install/moveit_studio_vision_msgs, /opt/overlay_ws/install/moveit_studio_bridge, /opt/overlay_ws/install/moveit_studio_utils_py, /opt/overlay_ws/install/moveit_studio_py, /opt/overlay_ws/install/moveit_studio_agent_msgs, /opt/overlay_ws/install/moveit_studio_sdk_msgs, /opt/overlay_ws/install/moveit_ros_move_group, /opt/overlay_ws/install/moveit_ros_planning, /opt/overlay_ws/install/moveit_pro_ros_visualization, /opt/overlay_ws/install/moveit_pro_base_py, /opt/overlay_ws/install/moveit_pro_planning_scene_monitor, /opt/overlay_ws/install/moveit_studio_licensing, /opt/overlay_ws/install/moveit_ros_perception, /opt/overlay_ws/install/moveit_pro_types, /opt/overlay_ws/install/moveit_pro_test_config_package_instance, /opt/overlay_ws/install/moveit_pro_test_config_package_site, /opt/overlay_ws/install/moveit_pro_test_config_package_offline, /opt/overlay_ws/install/moveit_pro_test_config_package_base, /opt/overlay_ws/install/moveit_pro_rviz_marker_tools, /opt/overlay_ws/install/moveit_pro_ros_occupancy_map_monitor, /opt/overlay_ws/install/moveit_pro_robot_config_template, /opt/overlay_ws/install/moveit_pro_package, /opt/overlay_ws/install/moveit_pro_ml_msgs, /opt/overlay_ws/install/moveit_pro_mcp_contracts, /opt/overlay_ws/install/moveit_pro_joint_costs, /opt/overlay_ws/install/moveit_pro_acm_updater, /opt/overlay_ws/install/moveit_pro_base, /opt/overlay_ws/install/moveit_pro_macros, /opt/overlay_ws/install/moveit_pro_controllers_msgs, /opt/overlay_ws/install/moveit_pro_configs_utils, /opt/overlay_ws/install/moveit_pro_behavior_template, /opt/overlay_ws/install/malloc_counter, /opt/overlay_ws/install/io_controller, /opt/overlay_ws/install/control_common, /opt/ros/jazzy] + 91.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `ML Segment Bottles from File` did not succeed at time: 1787874839.68975019 seconds + 91.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226108 ms (missed cycles : 3).[0m + 92.14sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787874840.48630857 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 92.23sINFOobjective_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 + 92.23sINFOobjective_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 + 92.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942052 ms (missed cycles : 2).[0m + 92.52sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). + 92.52sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 92.56sINFOros2_control_node[2026-08-27 23:54:00.903] [info] Received new action goal + 92.56sINFOros2_control_node[2026-08-27 23:54:00.903] [info] Accepted new action goal + 93.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531189 ms (missed cycles : 2).[0m + 94.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.598291 ms (missed cycles : 5).[0m + 95.24sWARNros2_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 + 95.40sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). + 95.42sINFOros2_control_node[2026-08-27 23:54:03.760] [info] Received new action goal + 95.42sINFOros2_control_node[2026-08-27 23:54:03.760] [info] Accepted new action goal + 95.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483001 ms (missed cycles : 5).[0m + 96.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719145 ms (missed cycles : 2).[0m + 97.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768175 ms (missed cycles : 4).[0m + 98.60sINFOros2_control_node[2026-08-27 23:54:06.941] [info] Received new action goal + 98.60sINFOros2_control_node[2026-08-27 23:54:06.941] [info] Accepted new action goal + 98.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337910 ms (missed cycles : 2).[0m + 99.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190473 ms (missed cycles : 4).[0m +101.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642967 ms (missed cycles : 3).[0m +101.57sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). +101.62sINFOros2_control_node[2026-08-27 23:54:09.963] [info] Received new action goal +101.62sINFOros2_control_node[2026-08-27 23:54:09.963] [info] Accepted new action goal +101.87sWARNros2_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 +102.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239943 ms (missed cycles : 2).[0m +103.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330277 ms (missed cycles : 2).[0m +104.58sINFOobjective_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 ×5 +104.58sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×3 +104.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×5 +104.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×5 +104.58sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×3 +104.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.900852 ms (missed cycles : 5).[0m +105.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441447 ms (missed cycles : 5).[0m +106.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723188 ms (missed cycles : 2).[0m +107.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159511 ms (missed cycles : 5).[0m +109.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898138 ms (missed cycles : 2).[0m +110.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352284 ms (missed cycles : 2).[0m +111.35sINFOobjective_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 +111.35sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×3 +111.35sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×3 +111.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.377718 ms (missed cycles : 6).[0m +112.28sINFOros2_control_node[2026-08-27 23:54:20.620] [info] Received new action goal +112.28sINFOros2_control_node[2026-08-27 23:54:20.620] [info] Accepted new action goal +112.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796998 ms (missed cycles : 5).[0m +113.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 +113.45sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 +113.73sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). +113.73sINFOobjective_server_nodePath shortcutter: [X___________X] +113.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015447 ms (missed cycles : 2).[0m +113.78sINFOros2_control_node[2026-08-27 23:54:22.123] [info] Received new action goal +113.78sINFOros2_control_node[2026-08-27 23:54:22.123] [info] Accepted new action goal +114.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783770 ms (missed cycles : 3).[0m +115.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007193 ms (missed cycles : 3).[0m +115.92sINFOros2_control_node[2026-08-27 23:54:24.260] [info] Received new action goal +115.92sINFOros2_control_node[2026-08-27 23:54:24.260] [info] Accepted new action goal +116.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291221 ms (missed cycles : 5).[0m +118.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097512 ms (missed cycles : 2).[0m +118.95sINFOros2_control_node[2026-08-27 23:54:27.291] [info] Received new action goal +118.95sINFOros2_control_node[2026-08-27 23:54:27.291] [info] Accepted new action goal +119.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059973 ms (missed cycles : 4).[0m +120.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956873 ms (missed cycles : 2).[0m +121.54sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). +121.59sINFOros2_control_node[2026-08-27 23:54:29.933] [info] Received new action goal +121.59sINFOros2_control_node[2026-08-27 23:54:29.933] [info] Accepted new action goal +121.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420966 ms (missed cycles : 3).[0m +122.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621633 ms (missed cycles : 4).[0m +123.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605450 ms (missed cycles : 5).[0m +125.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150289 ms (missed cycles : 5).[0m +126.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759127 ms (missed cycles : 2).[0m +127.29sWARNros2_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 +127.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.726741 ms (missed cycles : 6).[0m +128.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086476 ms (missed cycles : 2).[0m +130.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681453 ms (missed cycles : 3).[0m +131.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377101 ms (missed cycles : 3).[0m +132.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158739 ms (missed cycles : 2).[0m +132.27sINFOros2_control_node[2026-08-27 23:54:40.609] [info] Received new action goal +132.27sINFOros2_control_node[2026-08-27 23:54:40.609] [info] Accepted new action goal +133.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.305942 ms (missed cycles : 5).[0m +133.42sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787874881.76649570 seconds +134.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m +134.24sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787874882.58059716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +134.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985429 ms (missed cycles : 2).[0m +135.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458734 ms (missed cycles : 6).[0m +135.41sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). +135.41sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m +135.43sINFOobjective_server_nodePath shortcutter: [X__________________________X] +135.44sINFOros2_control_node[2026-08-27 23:54:43.785] [info] Received new action goal +135.44sINFOros2_control_node[2026-08-27 23:54:43.785] [info] Accepted new action goal +136.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.539279 ms (missed cycles : 6).[0m +137.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.371610 ms (missed cycles : 6).[0m +138.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562534 ms (missed cycles : 5).[0m +140.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256157 ms (missed cycles : 2).[0m +140.33sWARNros2_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 +141.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620336 ms (missed cycles : 5).[0m +141.54sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). +141.55sINFOobjective_server_nodePath shortcutter: [X________________________X] +141.56sINFOros2_control_node[2026-08-27 23:54:49.906] [info] Received new action goal +141.56sINFOros2_control_node[2026-08-27 23:54:49.906] [info] Accepted new action goal +142.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594054 ms (missed cycles : 2).[0m +143.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831802 ms (missed cycles : 2).[0m +144.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003995 ms (missed cycles : 2).[0m +145.17sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787874893.51074839 seconds +145.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725231 ms (missed cycles : 2).[0m +145.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787874894.11867356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +145.93sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). +145.93sINFOobjective_server_nodePath shortcutter: [X___X] ×3 +145.94sINFOros2_control_node[2026-08-27 23:54:54.282] [info] Received new action goal +145.94sINFOros2_control_node[2026-08-27 23:54:54.282] [info] Accepted new action goal +146.23sWARNros2_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 +146.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244641 ms (missed cycles : 2).[0m +147.22sINFOobjective_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 ×2 +147.22sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +147.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824591 ms (missed cycles : 2).[0m +148.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981254 ms (missed cycles : 2).[0m +149.32sINFOros2_control_nodeReceived new action goal[0m ×5192 +149.32sINFOros2_control_nodeAccepted new action goal[0m ×5192 +149.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811014 ms (missed cycles : 2).[0m +150.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563685 ms (missed cycles : 3).[0m +151.40sWARNros2_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 ×3 +151.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696294 ms (missed cycles : 2).[0m +152.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780652 ms (missed cycles : 2).[0m +153.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837420 ms (missed cycles : 5).[0m +154.28sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +154.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881973 ms (missed cycles : 2).[0m +155.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091213 ms (missed cycles : 2).[0m +156.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834559 ms (missed cycles : 2).[0m +157.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667637 ms (missed cycles : 2).[0m +158.38sWARNros2_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 +159.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521668 ms (missed cycles : 2).[0m +160.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651976 ms (missed cycles : 5).[0m +161.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953498 ms (missed cycles : 2).[0m +162.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302608 ms (missed cycles : 2).[0m +163.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965674 ms (missed cycles : 2).[0m +164.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128780 ms (missed cycles : 4).[0m +165.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118370 ms (missed cycles : 4).[0m +166.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645368 ms (missed cycles : 5).[0m +167.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.303809 ms (missed cycles : 8).[0m +168.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532000 ms (missed cycles : 3).[0m +169.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693605 ms (missed cycles : 2).[0m +170.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880635 ms (missed cycles : 2).[0m +171.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164496 ms (missed cycles : 5).[0m +172.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478881 ms (missed cycles : 2).[0m +173.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124354 ms (missed cycles : 2).[0m +174.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404365 ms (missed cycles : 2).[0m +175.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608359 ms (missed cycles : 2).[0m +176.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166608 ms (missed cycles : 2).[0m +177.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647249 ms (missed cycles : 4).[0m +179.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660113 ms (missed cycles : 6).[0m +179.37sWARNros2_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 +180.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350405 ms (missed cycles : 2).[0m +181.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618670 ms (missed cycles : 2).[0m +182.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.286434 ms (missed cycles : 7).[0m +183.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618610 ms (missed cycles : 2).[0m +184.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133049 ms (missed cycles : 4).[0m +185.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414273 ms (missed cycles : 2).[0m +185.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m +186.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790103 ms (missed cycles : 2).[0m +187.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984060 ms (missed cycles : 2).[0m +188.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085778 ms (missed cycles : 2).[0m +189.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576485 ms (missed cycles : 4).[0m +189.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787874937.91798949 seconds +190.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787874938.62804341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +190.44sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). +190.45sINFOros2_control_node[2026-08-27 23:55:38.791] [info] Received new action goal +190.45sINFOros2_control_node[2026-08-27 23:55:38.791] [info] Accepted new action goal +190.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310852 ms (missed cycles : 5).[0m +191.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267899 ms (missed cycles : 3).[0m +192.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232761 ms (missed cycles : 2).[0m +193.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401226 ms (missed cycles : 2).[0m +194.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837375 ms (missed cycles : 2).[0m +195.42sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m +195.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498053 ms (missed cycles : 4).[0m +196.43sWARNros2_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 +196.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234301 ms (missed cycles : 2).[0m +197.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689757 ms (missed cycles : 2).[0m +198.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915051 ms (missed cycles : 2).[0m +199.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263235 ms (missed cycles : 2).[0m +200.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891085 ms (missed cycles : 2).[0m +202.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457122 ms (missed cycles : 3).[0m +203.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939195 ms (missed cycles : 3).[0m +203.33sWARNros2_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 +204.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689175 ms (missed cycles : 3).[0m +205.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213476 ms (missed cycles : 2).[0m +206.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220820 ms (missed cycles : 5).[0m +207.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815640 ms (missed cycles : 2).[0m +208.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635571 ms (missed cycles : 2).[0m +209.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m +209.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971060 ms (missed cycles : 4).[0m +210.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000009 ms (missed cycles : 2).[0m +211.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354137 ms (missed cycles : 3).[0m +211.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787874960.12637877 seconds +212.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787874960.77683926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +212.62sINFOobjective_server_nodeFound path in 5 iterations (0.00544584 s). +212.71sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] +212.72sINFOros2_control_node[2026-08-27 23:56:01.062] [info] Received new action goal +212.72sINFOros2_control_node[2026-08-27 23:56:01.062] [info] Accepted new action goal +212.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130773 ms (missed cycles : 4).[0m +213.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798458 ms (missed cycles : 4).[0m +214.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319043 ms (missed cycles : 2).[0m +215.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m +215.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301116 ms (missed cycles : 3).[0m +217.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896925 ms (missed cycles : 5).[0m +218.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066561 ms (missed cycles : 5).[0m +219.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.962044 ms (missed cycles : 5).[0m +220.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562408 ms (missed cycles : 3).[0m +220.36sERRORobjective_server_nodeGetMasks2DFromExemplar Error: SAM3 model bundle manifest could not be resolved: Package 'moveit_pro_sam3' was not found: package 'moveit_pro_sam3' not found +220.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick 1 Pill Bottle with SAM3` did not succeed at time: 1787874968.70702171 seconds +221.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787874969.41940832 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +221.27sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). +221.28sINFOros2_control_node[2026-08-27 23:56:09.623] [info] Received new action goal +221.28sINFOros2_control_node[2026-08-27 23:56:09.623] [info] Accepted new action goal +221.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516740 ms (missed cycles : 6).[0m +222.34sWARNros2_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 +222.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303968 ms (missed cycles : 2).[0m +223.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872047 ms (missed cycles : 2).[0m +224.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.702899 ms (missed cycles : 6).[0m +225.46sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). +225.48sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 +225.58sINFOobjective_server_nodeFound path in 1 iterations (0.00343402 s). +225.81sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +225.83sINFOros2_control_node[2026-08-27 23:56:14.176] [info] Received new action goal +225.83sINFOros2_control_node[2026-08-27 23:56:14.176] [info] Accepted new action goal +225.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123012 ms (missed cycles : 3).[0m +226.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383149 ms (missed cycles : 4).[0m +228.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924572 ms (missed cycles : 4).[0m +228.31sINFOros2_control_node[2026-08-27 23:56:16.648] [info] Received new action goal +228.31sINFOros2_control_node[2026-08-27 23:56:16.648] [info] Accepted new action goal +229.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249578 ms (missed cycles : 7).[0m +230.22sINFOros2_control_node[2026-08-27 23:56:18.563] [info] Received new action goal +230.22sINFOros2_control_node[2026-08-27 23:56:18.563] [info] Accepted new action goal +230.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748299 ms (missed cycles : 2).[0m +231.11sINFOros2_control_node[2026-08-27 23:56:19.449] [info] Got request to cancel active goal. +231.11sINFOros2_control_node[2026-08-27 23:56:19.449] [info] Canceling active goal... +231.12sERRORobjective_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: 1787874979.46427011 seconds +231.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829167 ms (missed cycles : 4).[0m +231.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787874980.13553023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +231.96sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). +231.97sINFOros2_control_node[2026-08-27 23:56:20.309] [info] Received new action goal +231.97sINFOros2_control_node[2026-08-27 23:56:20.309] [info] Accepted new action goal +232.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738201 ms (missed cycles : 2).[0m +233.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114091 ms (missed cycles : 4).[0m +233.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +234.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851729 ms (missed cycles : 3).[0m +235.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373603 ms (missed cycles : 3).[0m +236.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.661559 ms (missed cycles : 6).[0m +237.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532045 ms (missed cycles : 2).[0m +238.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877281 ms (missed cycles : 5).[0m +239.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486436 ms (missed cycles : 3).[0m +240.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801789 ms (missed cycles : 4).[0m +240.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m +241.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211899 ms (missed cycles : 5).[0m +242.10sERRORobjective_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: 1787874990.44643855 seconds +242.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787874991.04063272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +242.99sINFOros2_control_node[2026-08-27 23:56:31.334] [info] Received new action goal +242.99sINFOros2_control_node[2026-08-27 23:56:31.334] [info] Accepted new action goal +243.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327594 ms (missed cycles : 2).[0m +244.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469868 ms (missed cycles : 2).[0m +245.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223171 ms (missed cycles : 2).[0m +246.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265469 ms (missed cycles : 4).[0m +247.00sINFOros2_control_node[2026-08-27 23:56:35.341] [info] Received new action goal +247.00sINFOros2_control_node[2026-08-27 23:56:35.341] [info] Accepted new action goal +247.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401068 ms (missed cycles : 3).[0m +248.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281055 ms (missed cycles : 3).[0m +249.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470728 ms (missed cycles : 3).[0m +250.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.501294 ms (missed cycles : 6).[0m +251.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114800 ms (missed cycles : 3).[0m +252.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m +252.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920843 ms (missed cycles : 2).[0m +252.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787875000.92706299 seconds +253.25sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787875001.59212089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +253.37sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). +253.38sINFOros2_control_node[2026-08-27 23:56:41.726] [info] Received new action goal +253.38sINFOros2_control_node[2026-08-27 23:56:41.726] [info] Accepted new action goal +253.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359386 ms (missed cycles : 2).[0m +254.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631585 ms (missed cycles : 4).[0m +255.42sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m +255.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326618 ms (missed cycles : 4).[0m +256.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757926 ms (missed cycles : 3).[0m +258.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.687301 ms (missed cycles : 5).[0m +259.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605165 ms (missed cycles : 3).[0m +260.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235263 ms (missed cycles : 3).[0m +261.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006643 ms (missed cycles : 5).[0m +262.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161472 ms (missed cycles : 5).[0m +263.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377571 ms (missed cycles : 2).[0m +263.61sERRORobjective_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: 1787875011.95238018 seconds +264.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 +264.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787875012.59040213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +264.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787875012.67052674 seconds +264.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785199 ms (missed cycles : 4).[0m +264.92sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787875013.26216364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +264.94sINFOobjective_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 '' +264.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787875013.28457141 seconds +265.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.369150 ms (missed cycles : 6).[0m +265.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787875013.99744606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +265.77sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). +265.78sINFOros2_control_node[2026-08-27 23:56:54.123] [info] Received new action goal +265.78sINFOros2_control_node[2026-08-27 23:56:54.123] [info] Accepted new action goal +266.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363028 ms (missed cycles : 2).[0m +267.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230473 ms (missed cycles : 3).[0m +269.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758221 ms (missed cycles : 3).[0m +269.09sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +269.09sINFOros2_control_node[2026-08-27 23:56:57.431] [info] Received new action goal +269.09sINFOros2_control_node[2026-08-27 23:56:57.431] [info] Accepted new action goal +269.09sINFOros2_control_node[2026-08-27 23:56:57.431] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +270.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952641 ms (missed cycles : 3).[0m +271.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081393 ms (missed cycles : 5).[0m +272.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981753 ms (missed cycles : 4).[0m +273.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410289 ms (missed cycles : 3).[0m +274.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196559 ms (missed cycles : 3).[0m +275.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913614 ms (missed cycles : 4).[0m +276.11sINFOros2_control_node[2026-08-27 23:57:04.447] [info] Got request to cancel active goal. +276.11sINFOros2_control_node[2026-08-27 23:57:04.447] [info] Canceling active goal... +276.11sERRORobjective_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: 1787875024.45189381 seconds +276.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538501 ms (missed cycles : 5).[0m +276.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787875025.05879569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +277.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.046799 ms (missed cycles : 5).[0m +277.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787875025.89891815 seconds +278.15sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787875026.49310660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +278.15sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +278.15sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +278.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +278.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787875026.49493623 seconds +278.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208840 ms (missed cycles : 2).[0m +278.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787875027.22397137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +278.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787875027.22457409 seconds +279.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787875027.82424378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +279.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397148 ms (missed cycles : 2).[0m +280.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787875028.89437032 seconds +280.59sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +280.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622207 ms (missed cycles : 4).[0m +281.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.090548 ms (missed cycles : 6).[0m +283.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111989 ms (missed cycles : 3).[0m +284.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417543 ms (missed cycles : 3).[0m +285.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802749 ms (missed cycles : 2).[0m +285.94sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.95sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.95sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.95sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.96sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.96sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.96sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.96sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.96sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.97sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.97sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.97sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.98sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.98sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.98sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.98sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +285.98sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] +285.99sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] +286.01sERRORweb_video_auth_proxy-23process has died [pid 7434, 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']. +286.01sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] +286.02sERRORweb_bridge_auth_proxy-22process has died [pid 7414, 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']. +286.02sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +286.03sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] +286.04sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] +286.05sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] +286.06sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] +286.07sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +286.08sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +286.10sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +286.11sINFOvideo_server-21process has finished cleanly [pid 7413] +286.11sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +286.13sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +286.14sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +286.16sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +286.18sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +286.18sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system +286.18sINFOvideo_server2026/08/27 23:57:14 INF shutting down gracefully +286.18sERRORmove_group-9process has died [pid 7338, 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_3wqti_om --params-file /tmp/launch_params_o8blg8yg --params-file /tmp/launch_params_xqydy7nu --params-file /tmp/launch_params_tr493302 --params-file /tmp/launch_params_9oedqpds --params-file /tmp/launch_params_ij8f3jk8']. +286.18sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +286.18sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +286.18sINFOvideo_server2026/08/27 23:57:14 INF [WebRTC] closing +286.18sINFOvideo_server2026/08/27 23:57:14 INF [RTSP] closing +286.18sINFOvideo_server2026/08/27 23:57:14 INF waiting for running hooks +286.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284544 ms (missed cycles : 3).[0m +286.18sWARNparameter_manager_nodeROS node was shutdown. +286.19sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +286.19sERRORmove_groupwhat(): context cannot be slept with because it's invalid +286.19sERRORmove_groupStack trace (most recent call last) in thread 7649: +286.19sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +286.19sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b82201a63, in __clone +286.19sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b82174aa3, in +286.19sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b82406db3, in +286.19sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f8b82b77a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +286.19sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b82798620, in rclcpp::Rate::sleep() +286.19sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b826dad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +286.19sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8b8269c087, in +286.19sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b823d5390, in __cxa_throw +286.19sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b823bfa54, in std::terminate() +286.19sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b823d50d9, in +286.19sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8b823bfff4, in +286.19sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b821008fe, in abort +286.19sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b8211d27d, in raise +286.19sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8b82176b2c, in pthread_kill +286.19sERRORmove_groupAborted (Signal sent by tkill() 7338 0) +286.19sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +286.19sINFOros2_control_nodeShutdown request received....[0m +286.19sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +286.19sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +286.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +286.19sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +286.19sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +286.19sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +286.19sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +286.19sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +286.19sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +286.19sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +286.19sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +286.19sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +286.19sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +286.19sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +286.19sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +286.19sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +286.19sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +286.19sINFOros2_control_nodeShutting down the controller manager.[0m +286.19sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +286.35sINFOros2_control_nodeAsync messages lost 0[0m ×2 +286.35sINFOros2_control_nodepublish_async_failures_ 3[0m +286.35sINFOros2_control_nodepublish_async_failures_ 2[0m +287.07sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7412] +287.07sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +287.14sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7342] +287.15sINFOui_teleop_bridge-18process has finished cleanly [pid 7347] +287.16sINFOexecute_objective_bridge-17process has finished cleanly [pid 7346] +287.16sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7341] +287.16sINFOcomponent_container_mt-16process has finished cleanly [pid 7345] +287.21sINFOwaypoint_manager_node-11process has finished cleanly [pid 7340] +287.21sINFOparameter_manager_node-10process has finished cleanly [pid 7339] +287.24sINFOobjective_server_node[0;m[2026-08-27 23:57:15.585] [moveit_pro_license] [critical] +287.24sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +287.37sINFOobjective_server_node_main-14process has finished cleanly [pid 7343] +287.37sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +288.26sINFOcomponent_container_mt-15process has finished cleanly [pid 7344] +288.51sINFOweb_bridge-19process has finished cleanly [pid 7348] +288.51sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system +288.77sINFOros2_control_node-1process has finished cleanly [pid 7301] +294.24sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-27-23-57-21-891142-4cff1bbb0d45-8540 ×2 +296.01sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +296.02sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +296.02sINFOcontroller_managerupdate rate is 600 Hz +296.02sINFOcontroller_managerOverruns handling is : enabled +296.02sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +296.02sWARNcontroller_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. +296.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431018 ms (missed cycles : 8). +296.19sINFOros2_control_node-1process started with pid [8588] ×2 +296.20sINFOmove_group-9process started with pid [8625] ×2 +296.20sINFOparameter_manager_node-10process started with pid [8626] ×2 +296.20sINFOwaypoint_manager_node-11process started with pid [8627] ×2 +296.20sINFOmove_joint_resampler_node-12process started with pid [8628] ×2 +296.20sINFOmove_end_effector_resampler_node-13process started with pid [8629] ×2 +296.20sINFOobjective_server_node_main-14process started with pid [8630] ×2 +296.20sINFOcomponent_container_mt-15process started with pid [8631] ×2 +296.20sINFOcomponent_container_mt-16process started with pid [8632] ×2 +296.20sINFOexecute_objective_bridge-17process started with pid [8633] ×2 +296.20sINFOui_teleop_bridge-18process started with pid [8634] ×2 +296.20sINFOweb_bridge-19process started with pid [8635] ×2 +296.20sINFOtf2_web_republisher_node-20process started with pid [8688] ×2 +296.20sINFOvideo_server-21process started with pid [8691] ×2 +296.20sINFOweb_bridge_auth_proxy-22process started with pid [8697] ×2 +296.20sINFOweb_video_auth_proxy-23process started with pid [8698] ×2 +296.21sINFOros2-2process started with pid [8589] ×2 +296.21sINFOros2-3process started with pid [8590] ×2 +296.21sINFOros2-4process started with pid [8591] ×2 +296.21sINFOros2-5process started with pid [8592] ×2 +296.21sINFOros2-6process started with pid [8593] ×2 +296.21sINFOros2-7process started with pid [8594] ×2 +296.21sINFOros2-8process started with pid [8595] ×2 +296.23sINFOcontroller_managerReceived robot description from topic. +296.23sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +296.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431018 ms (missed cycles : 8).[0m ×2 +296.27sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +296.62sINFOvideo_server2026/08/27 23:57:24 INF MediaMTX v1.19.3, linux, amd64 ×2 +296.62sINFOvideo_server2026/08/27 23:57:24 INF configuration loaded from /tmp/moveit-webrtc-l2nr_p06/mediamtx.yml ×2 +296.62sINFOvideo_server2026/08/27 23:57:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +296.62sINFOvideo_server2026/08/27 23:57:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +297.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702775 ms (missed cycles : 2). +297.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702775 ms (missed cycles : 2).[0m ×2 +297.17sINFOmove_group[2026-08-27 23:57:25.501] [moveit_pro_license] [info] ×2 +297.62sINFOwaypoint_manager_node[2026-08-27 23:57:25.952] [moveit_pro_license] [info] ×2 +297.67sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +297.67sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +297.87sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +298.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202622 ms (missed cycles : 2). +298.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202622 ms (missed cycles : 2).[0m ×2 +299.11sINFOobjective_server_node[2026-08-27 23:57:27.453] [moveit_pro_license] [info] ×2 +299.44sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +299.61sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +299.61sINFOcontroller_managerActivating component 'ur_mujoco_control'. +299.61sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +299.61sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +299.63sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +299.63sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +299.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh +299.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 +299.65sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +299.65sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +299.66sINFOforce_torque_sensor_broadcasterconfigure successful +299.66sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +299.66sINFOcontroller_managerSuccessfully switched controllers! ×14 +299.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +299.78sINFOcomponent_container_mt[2026-08-27 23:57:28.119] [moveit_pro_license] [info] ×2 +299.97sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +299.97sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +300.00sINFOros2-2process has finished cleanly [pid 8589] ×2 +300.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh +300.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 +300.17sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +300.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +300.18sINFOros2_control_node[2026-08-27 23:57:28.517] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +300.18sINFOros2_control_node[2026-08-27 23:57:28.517] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +300.20sINFOros2_control_node[2026-08-27 23:57:28.542] [info] First order lag filter time constant set to: 0.2 seconds ×2 +300.20sINFOros2_control_node[2026-08-27 23:57:28.542] [info] Controller state will be published at 50 Hz. ×2 +300.21sINFOros2_control_node[2026-08-27 23:57:28.549] [info] Registered `FollowJointTrajectory` action server. ×2 +300.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687298 ms (missed cycles : 2). +300.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687298 ms (missed cycles : 2).[0m ×2 +300.52sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +300.52sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +300.52sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh +300.52sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 +300.53sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +300.55sINFOros2-6process has finished cleanly [pid 8593] ×2 +300.57sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +300.57sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +300.57sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +300.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 +300.59sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +300.89sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +300.89sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +300.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh +300.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 +300.90sINFOros2-3process has finished cleanly [pid 8590] ×2 +300.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +300.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +300.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +300.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +300.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +301.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +301.25sINFOcontroller_managerLoading controller 'velocity_force_controller' +301.26sINFOros2-4process has finished cleanly [pid 8591] ×2 +301.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh +301.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 +301.36sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +301.36sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +301.39sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 +301.39sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 +301.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] +301.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +301.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 +301.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 +301.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] +301.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 +301.71sINFOros2-7process has finished cleanly [pid 8594] ×2 +301.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +301.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +301.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh +301.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 +301.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +301.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +301.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +301.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +301.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +301.79sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +301.79sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +301.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +301.80sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +301.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). +301.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 +302.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +302.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 +302.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 +302.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 +302.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 +302.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 +302.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 +302.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 +302.14sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +302.14sINFOcontroller_managerLoading controller 'joint_velocity_controller' +302.14sINFOros2-5process has finished cleanly [pid 8592] ×2 +302.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh +302.20sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 +302.25sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +302.25sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +302.28sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 +302.28sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 +302.61sINFOros2-8process has finished cleanly [pid 8595] ×2 +302.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +302.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +302.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). +302.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 +303.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 +303.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). +303.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 +304.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +304.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 +304.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). +304.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 +305.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +305.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 +305.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +305.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.8s	23 warnings · 278 info
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.09sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2-5process has finished cleanly [pid 8592] ×2 + 0.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.23sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sINFOros2-8process has finished cleanly [pid 8595] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sWARNros2_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 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.28sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 7.58sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	23 warnings · 361 info
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [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' + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOros2-7process has finished cleanly [pid 8594] ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.48sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.82sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.82sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 8592] ×2 + 0.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 0.97sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOros2-8process has finished cleanly [pid 8595] ×2 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNros2_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 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.02sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.1s	23 warnings · 219 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3
− skipped	—	addtovector.xml	0.0s	9 warnings · 98 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-27-23-57-21-891142-4cff1bbb0d45-8540 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.77sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.78sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.78sINFOcontroller_managerupdate rate is 600 Hz + 1.78sINFOcontroller_managerOverruns handling is : enabled + 1.78sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.78sWARNcontroller_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. + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431018 ms (missed cycles : 8). + 1.95sINFOros2_control_node-1process started with pid [8588] ×2 + 1.95sINFOmove_group-9process started with pid [8625] ×2 + 1.95sINFOparameter_manager_node-10process started with pid [8626] ×2 + 1.95sINFOwaypoint_manager_node-11process started with pid [8627] ×2 + 1.95sINFOmove_joint_resampler_node-12process started with pid [8628] ×2 + 1.95sINFOmove_end_effector_resampler_node-13process started with pid [8629] ×2 + 1.95sINFOobjective_server_node_main-14process started with pid [8630] ×2 + 1.95sINFOcomponent_container_mt-15process started with pid [8631] ×2 + 1.95sINFOcomponent_container_mt-16process started with pid [8632] ×2 + 1.95sINFOexecute_objective_bridge-17process started with pid [8633] ×2 + 1.96sINFOui_teleop_bridge-18process started with pid [8634] ×2 + 1.96sINFOweb_bridge-19process started with pid [8635] ×2 + 1.96sINFOtf2_web_republisher_node-20process started with pid [8688] ×2 + 1.96sINFOvideo_server-21process started with pid [8691] ×2 + 1.96sINFOweb_bridge_auth_proxy-22process started with pid [8697] ×2 + 1.96sINFOweb_video_auth_proxy-23process started with pid [8698] ×2 + 1.96sINFOros2-2process started with pid [8589] ×2 + 1.96sINFOros2-3process started with pid [8590] ×2 + 1.96sINFOros2-4process started with pid [8591] ×2 + 1.96sINFOros2-5process started with pid [8592] ×2 + 1.96sINFOros2-6process started with pid [8593] ×2 + 1.96sINFOros2-7process started with pid [8594] ×2 + 1.96sINFOros2-8process started with pid [8595] ×2 + 1.99sINFOcontroller_managerReceived robot description from topic. + 1.99sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.02sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.02sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.02sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.02sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.02sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.02sWARNros2_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 + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.431018 ms (missed cycles : 8).[0m ×2 + 2.02sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.02sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.03sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.18sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.38sINFOvideo_server2026/08/27 23:57:24 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.38sINFOvideo_server2026/08/27 23:57:24 INF configuration loaded from /tmp/moveit-webrtc-l2nr_p06/mediamtx.yml ×2 + 2.38sINFOvideo_server2026/08/27 23:57:24 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.38sINFOvideo_server2026/08/27 23:57:24 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702775 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702775 ms (missed cycles : 2).[0m ×2 + 2.93sINFOmove_group[2026-08-27 23:57:25.501] [moveit_pro_license] [info] ×2 + 2.93sINFOmove_group************************************************* ×4 + 2.93sINFOmove_group* MoveIt Pro License ×2 + 2.93sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	20 warnings · 398 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8590] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 8591] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 + 0.50sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 8594] ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.91sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 8592] ×2 + 1.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 1.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.72sINFOros2-8process has finished cleanly [pid 8595] ×2 + 1.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNros2_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 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2
− skipped	—	request_teleoperation.xml	0.0s	23 warnings · 361 info
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [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' + 0.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOros2-7process has finished cleanly [pid 8594] ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.48sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.82sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.82sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2-5process has finished cleanly [pid 8592] ×2 + 0.89sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.89sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 0.97sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOros2-8process has finished cleanly [pid 8595] ×2 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNros2_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 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.02sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 6.02sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	20 warnings · 273 info
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.09sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2-5process has finished cleanly [pid 8592] ×2 + 0.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.23sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sINFOros2-8process has finished cleanly [pid 8595] ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sWARNros2_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 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.26sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.28sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	createvector.xml	0.0s	20 warnings · 398 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8590] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 8591] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 + 0.50sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 8594] ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.91sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 8592] ×2 + 1.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 1.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.72sINFOros2-8process has finished cleanly [pid 8595] ×2 + 1.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNros2_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 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	20 warnings · 398 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8590] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 8591] ×2 + 0.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.47sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-08-27 23:57:29.727] [info] Controller state will be published at 10 Hz. ×2 + 0.50sINFOros2_control_node[2026-08-27 23:57:29.728] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOros2-7process has finished cleanly [pid 8594] ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 0.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 0.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.91sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191303 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875050.39202332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875050.40228653 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 8592] ×2 + 1.31sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh + 1.31sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cnoqjkgy --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jlie6u_k --params-file /tmp/launch_params_6ddw4yrh [0m ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.624] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-27 23:57:30.625] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.72sINFOros2-8process has finished cleanly [pid 8595] ×2 + 1.77sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875051.00811315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNros2_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 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	move_to_pose.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	26 warnings · 227 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.94sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.96sINFOros2_control_node[2026-08-27 23:57:38.189] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-08-27 23:57:38.189] [info] Accepted new action goal ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144539 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144539 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	visualize_tf.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	23 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828809 ms (missed cycles : 2).[0m ×2 + 0.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875052.06825042 seconds ×3 + 0.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560829 ms (missed cycles : 4).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875052.68824553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875052.74840689 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916603 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875053.40405679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNros2_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 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875053.42417836 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875054.02741933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875054.17795229 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544117 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875054.89307737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875054.93319702 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413450 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875055.53514552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.3433e-05 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-27 23:57:35.671] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313384 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139306 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2