117
Total objective tests
31
Objectives passed
0
Objectives failed
86
Objectives skipped
9.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives27 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 166 warnings · 18334 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-28 00:15:14.889] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-28 00:15:14.889] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354620 ms (missed cycles : 5). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354620 ms (missed cycles : 5).[0m ×2 + 0.47sWARNros2_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 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558623 ms (missed cycles : 5). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558623 ms (missed cycles : 5).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897375 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897375 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787876118.49458337 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754410 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754410 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787876119.10963392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.52sINFOros2_control_node[2026-08-28 00:15:19.273] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-28 00:15:19.273] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766914 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766914 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793765 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793765 ms (missed cycles : 2).[0m ×2 + 6.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738411 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738411 ms (missed cycles : 2).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807418 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807418 ms (missed cycles : 2).[0m ×2 + 7.96sINFOjoint_trajectory_controllerReceived new action goal ×3014 + 7.96sINFOjoint_trajectory_controllerAccepted new action goal ×3014 + 7.96sINFOros2_control_nodeReceived new action goal[0m ×6028 + 7.96sINFOros2_control_nodeAccepted new action goal[0m ×6028 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667755 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667755 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196963 ms (missed cycles : 6). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196963 ms (missed cycles : 6).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297906 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297906 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446255 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446255 ms (missed cycles : 2).[0m ×2 + 12.85sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.86sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.86sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790511 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790511 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975576 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975576 ms (missed cycles : 2).[0m ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584783 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584783 ms (missed cycles : 3).[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048445 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048445 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840633 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840633 ms (missed cycles : 2).[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022153 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022153 ms (missed cycles : 2).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843086 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843086 ms (missed cycles : 2).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791159 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791159 ms (missed cycles : 2).[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773166 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773166 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.530925 ms (missed cycles : 9). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.530925 ms (missed cycles : 9).[0m ×2 + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942146 ms (missed cycles : 3). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942146 ms (missed cycles : 3).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675768 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675768 ms (missed cycles : 2).[0m ×2 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782295 ms (missed cycles : 2). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782295 ms (missed cycles : 2).[0m ×2 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726964 ms (missed cycles : 2). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726964 ms (missed cycles : 2).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875064 ms (missed cycles : 2). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875064 ms (missed cycles : 2).[0m ×2 + 27.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193247 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193247 ms (missed cycles : 2).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533679 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533679 ms (missed cycles : 2).[0m ×2 + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724482 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724482 ms (missed cycles : 2).[0m ×2 + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975790 ms (missed cycles : 2). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975790 ms (missed cycles : 2).[0m ×2 + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868075 ms (missed cycles : 2). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868075 ms (missed cycles : 2).[0m ×2 + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423434 ms (missed cycles : 2). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423434 ms (missed cycles : 2).[0m ×2 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397124 ms (missed cycles : 3). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397124 ms (missed cycles : 3).[0m ×2 + 34.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311854 ms (missed cycles : 2). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311854 ms (missed cycles : 2).[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688276 ms (missed cycles : 7). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688276 ms (missed cycles : 7).[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257018 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257018 ms (missed cycles : 2).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155985 ms (missed cycles : 2). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155985 ms (missed cycles : 2).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673682 ms (missed cycles : 2). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673682 ms (missed cycles : 2).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721719 ms (missed cycles : 2). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721719 ms (missed cycles : 2).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377960 ms (missed cycles : 2). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377960 ms (missed cycles : 2).[0m ×2 + 41.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892658 ms (missed cycles : 3). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892658 ms (missed cycles : 3).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871872 ms (missed cycles : 2). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871872 ms (missed cycles : 2).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827493 ms (missed cycles : 2). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827493 ms (missed cycles : 2).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748078 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748078 ms (missed cycles : 2).[0m ×2 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768166 ms (missed cycles : 2). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768166 ms (missed cycles : 2).[0m ×2 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150876 ms (missed cycles : 2). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150876 ms (missed cycles : 2).[0m ×2 + 48.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876162.91705894 seconds ×3 + 48.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 48.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787876163.55901814 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 + 48.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.293166 ms (missed cycles : 5). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.293166 ms (missed cycles : 5).[0m ×2 + 48.94sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 48.95sINFOros2_control_node[2026-08-28 00:16:03.702] [info] Received new action goal ×2 + 48.95sINFOros2_control_node[2026-08-28 00:16:03.702] [info] Accepted new action goal ×2 + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.676592 ms (missed cycles : 6). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.676592 ms (missed cycles : 6).[0m ×2 + 50.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862934 ms (missed cycles : 2). + 50.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862934 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 158 warnings · 340 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×12 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504754 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504754 ms (missed cycles : 2).[0m ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 7.79sINFOros2_control_node[2026-08-28 00:14:27.679] [info] Received new action goal ×2 + 7.80sINFOros2_control_node[2026-08-28 00:14:27.679] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837106 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837106 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436927 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436927 ms (missed cycles : 2).[0m ×2 + 10.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.98sINFOros2_control_node[2026-08-28 00:14:30.860] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-08-28 00:14:30.860] [info] Accepted new action goal ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149981 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149981 ms (missed cycles : 4).[0m ×2 + 11.45sWARNros2_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 ×4 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513756 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513756 ms (missed cycles : 2).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645780 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645780 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 13.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.01sINFOros2_control_node[2026-08-28 00:14:33.892] [info] Received new action goal ×2 + 14.01sINFOros2_control_node[2026-08-28 00:14:33.892] [info] Accepted new action goal ×2 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830897 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830897 ms (missed cycles : 3).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697072 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697072 ms (missed cycles : 2).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698703 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698703 ms (missed cycles : 2).[0m ×2 + 16.97sINFOobjective_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 + 16.97sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.97sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.97sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.98sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844554 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844554 ms (missed cycles : 2).[0m ×2 + 17.71sWARNros2_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 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166959 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166959 ms (missed cycles : 2).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309071 ms (missed cycles : 2). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309071 ms (missed cycles : 2).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156089 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156089 ms (missed cycles : 2).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128013 ms (missed cycles : 4). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128013 ms (missed cycles : 4).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.706820 ms (missed cycles : 8). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.706820 ms (missed cycles : 8).[0m ×2 + 23.49sWARNros2_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 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322459 ms (missed cycles : 5). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322459 ms (missed cycles : 5).[0m ×2 + 24.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.55sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.55sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.55sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.55sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 25.43sINFOros2_control_node[2026-08-28 00:14:45.319] [info] Received new action goal ×2 + 25.43sINFOros2_control_node[2026-08-28 00:14:45.319] [info] Accepted new action goal ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940551 ms (missed cycles : 2).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577694 ms (missed cycles : 2). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577694 ms (missed cycles : 2).[0m ×2 + 26.62sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.63sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.91sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 26.96sINFOros2_control_node[2026-08-28 00:14:46.842] [info] Received new action goal ×2 + 26.96sINFOros2_control_node[2026-08-28 00:14:46.842] [info] Accepted new action goal ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282347 ms (missed cycles : 4). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282347 ms (missed cycles : 4).[0m ×2 + 28.62sWARNros2_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 ×4 + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932667 ms (missed cycles : 2). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932667 ms (missed cycles : 2).[0m ×2 + 29.26sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 29.26sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.28sINFOros2_control_node[2026-08-28 00:14:49.160] [info] Received new action goal ×2 + 29.28sINFOros2_control_node[2026-08-28 00:14:49.160] [info] Accepted new action goal ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156733 ms (missed cycles : 2). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156733 ms (missed cycles : 2).[0m ×2 + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081352 ms (missed cycles : 2). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081352 ms (missed cycles : 2).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649420 ms (missed cycles : 2). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649420 ms (missed cycles : 2).[0m ×2 + 32.31sINFOros2_control_node[2026-08-28 00:14:52.190] [info] Received new action goal ×2 + 32.31sINFOros2_control_node[2026-08-28 00:14:52.190] [info] Accepted new action goal ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460569 ms (missed cycles : 4). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460569 ms (missed cycles : 4).[0m ×2 + 33.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074368 ms (missed cycles : 5). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074368 ms (missed cycles : 5).[0m ×2 + 34.90sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 34.90sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.96sINFOros2_control_node[2026-08-28 00:14:54.845] [info] Received new action goal ×2 + 34.96sINFOros2_control_node[2026-08-28 00:14:54.845] [info] Accepted new action goal ×2 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571314 ms (missed cycles : 2). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571314 ms (missed cycles : 2).[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537777 ms (missed cycles : 5). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537777 ms (missed cycles : 5).[0m ×2 + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960464 ms (missed cycles : 3). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960464 ms (missed cycles : 3).[0m ×2 + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667601 ms (missed cycles : 3). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667601 ms (missed cycles : 3).[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498076 ms (missed cycles : 7). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.498076 ms (missed cycles : 7).[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803945 ms (missed cycles : 2). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803945 ms (missed cycles : 2).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195545 ms (missed cycles : 2). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195545 ms (missed cycles : 2).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758312 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758312 ms (missed cycles : 2).[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805967 ms (missed cycles : 4). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805967 ms (missed cycles : 4).[0m ×2 + 44.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644107 ms (missed cycles : 5). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644107 ms (missed cycles : 5).[0m ×2 + 45.67sINFOros2_control_node[2026-08-28 00:15:05.549] [info] Received new action goal ×2 + 45.67sINFOros2_control_node[2026-08-28 00:15:05.549] [info] Accepted new action goal ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630778 ms (missed cycles : 2). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630778 ms (missed cycles : 2).[0m ×2 + 46.65sINFOros2_control_nodeMuJoCo sim: 0.63% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787876106.70526934 seconds ×3 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870315 ms (missed cycles : 2). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870315 ms (missed cycles : 2).[0m ×2 + 47.62sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787876107.50442314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088456 ms (missed cycles : 5). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088456 ms (missed cycles : 5).[0m ×2 + 48.85sINFOobjective_server_nodeFound path in 0 iterations (6.7e-07 s). ×2 + 48.87sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.90sINFOros2_control_node[2026-08-28 00:15:08.769] [info] Received new action goal ×2 + 48.90sINFOros2_control_node[2026-08-28 00:15:08.769] [info] Accepted new action goal ×2 + 49.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946808 ms (missed cycles : 3). + 49.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946808 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13330 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2195 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2195 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4390 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4390 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827493 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827493 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748078 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748078 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768166 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768166 ms (missed cycles : 2).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150876 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150876 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876162.91705894 seconds ×3 + 4.02sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 4.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 4.02sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 4.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×7 + 4.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787876163.55901814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.293166 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.293166 ms (missed cycles : 5).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.80sINFOros2_control_node[2026-08-28 00:16:03.702] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-28 00:16:03.702] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.676592 ms (missed cycles : 6). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.676592 ms (missed cycles : 6).[0m ×2 + 6.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.10sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 6.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862934 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862934 ms (missed cycles : 2).[0m ×2 + 7.64sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671221 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671221 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.221497 ms (missed cycles : 8). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.221497 ms (missed cycles : 8).[0m ×2 + 9.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340228 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340228 ms (missed cycles : 2).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230261 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230261 ms (missed cycles : 2).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682688 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682688 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888711 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888711 ms (missed cycles : 2).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.440150 ms (missed cycles : 8). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.440150 ms (missed cycles : 8).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300208 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300208 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758167 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758167 ms (missed cycles : 2).[0m ×2 + 16.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×4 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554857 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554857 ms (missed cycles : 2).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725845 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725845 ms (missed cycles : 2).[0m ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433736 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433736 ms (missed cycles : 3).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.313489 ms (missed cycles : 8). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.313489 ms (missed cycles : 8).[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819440 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819440 ms (missed cycles : 2).[0m ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2).[0m ×2 + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2).[0m ×2 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2).[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2).[0m ×2 + 26.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876185.02056527 seconds ×3 + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6).[0m ×2 + 26.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787876185.66571355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.96sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 26.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.97sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Received new action goal ×2 + 26.97sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Accepted new action goal ×2 + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 17.4s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×6 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1787875995.15827012 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711417 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711417 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932848 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932848 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747972 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747972 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761565 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761565 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084301 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084301 ms (missed cycles : 3).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670024 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670024 ms (missed cycles : 2).[0m ×2 + 12.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332213 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332213 ms (missed cycles : 2).[0m ×2 + 14.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 14.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 14.05sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775630 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775630 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 14.34sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 14.35sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 14.38sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 14.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 14.48sINFOobjective_server_nodeFound path in 1 iterations (0.00414772 s). ×2 + 14.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 14.72sINFOros2_control_node[2026-08-28 00:13:27.511] [info] Received new action goal ×2 + 14.72sINFOros2_control_node[2026-08-28 00:13:27.511] [info] Accepted new action goal ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466962 ms (missed cycles : 5). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466962 ms (missed cycles : 5).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889736 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889736 ms (missed cycles : 2).[0m ×2 + 17.19sINFOros2_control_node[2026-08-28 00:13:29.983] [info] Received new action goal ×2 + 17.19sINFOros2_control_node[2026-08-28 00:13:29.983] [info] Accepted new action goal ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297689 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297689 ms (missed cycles : 2).[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 19.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 19.10sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 19.10sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 20.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 21.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 21.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.96sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 21.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.97sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 21.97sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459872 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459872 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.29sINFOobjective_server_nodeFound path in 1 iterations (0.00367052 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOros2_control_node[2026-08-28 00:14:04.733] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-28 00:14:04.733] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_node[2026-08-28 00:14:05.165] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-28 00:14:05.165] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729271 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729271 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039994 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039994 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876047.15894413 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807850 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807850 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787876047.95541954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.94sINFOros2_control_node[2026-08-28 00:14:08.129] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-28 00:14:08.129] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040337 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040337 ms (missed cycles : 3).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560718 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560718 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511301 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511301 ms (missed cycles : 2).[0m ×2 + 6.46sINFOros2_control_node[2026-08-28 00:14:10.646] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-08-28 00:14:10.646] [info] Accepted new action goal ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671096 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671096 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568584 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568584 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882056 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882056 ms (missed cycles : 2).[0m ×2 + 10.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947668 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947668 ms (missed cycles : 3).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896562 ms (missed cycles : 4). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896562 ms (missed cycles : 4).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3).[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787876059.21487880 seconds ×3 + 15.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 15.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 16.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.50sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 16.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.52sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 16.52sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758312 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758312 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805967 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805967 ms (missed cycles : 4).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.57sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.57sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644107 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644107 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.45sINFOros2_control_node[2026-08-28 00:15:05.549] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-28 00:15:05.549] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630778 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630778 ms (missed cycles : 2).[0m ×2 + 3.43sINFOros2_control_nodeMuJoCo sim: 0.63% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787876106.70526934 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870315 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870315 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787876107.50442314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088456 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088456 ms (missed cycles : 5).[0m ×2 + 5.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.64sINFOobjective_server_nodeFound path in 0 iterations (6.7e-07 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.68sINFOros2_control_node[2026-08-28 00:15:08.769] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-08-28 00:15:08.769] [info] Accepted new action goal ×2 + 6.43sWARNros2_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 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946808 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946808 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074085 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074085 ms (missed cycles : 5).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287432 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287432 ms (missed cycles : 2).[0m ×2 + 9.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390088 ms (missed cycles : 5). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390088 ms (missed cycles : 5).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917571 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917571 ms (missed cycles : 2).[0m ×2 + 11.76sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.78sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.79sINFOros2_control_node[2026-08-28 00:15:14.889] [info] Received new action goal ×2 + 11.79sINFOros2_control_node[2026-08-28 00:15:14.889] [info] Accepted new action goal ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354620 ms (missed cycles : 5). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354620 ms (missed cycles : 5).[0m ×2 + 12.13sWARNros2_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 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558623 ms (missed cycles : 5). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558623 ms (missed cycles : 5).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897375 ms (missed cycles : 4). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897375 ms (missed cycles : 4).[0m ×2 + 15.40sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787876118.49458337 seconds ×3 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754410 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754410 ms (missed cycles : 2).[0m ×2 + 16.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787876119.10963392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.16sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 16.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.18sINFOros2_control_node[2026-08-28 00:15:19.273] [info] Received new action goal ×2 + 16.18sINFOros2_control_node[2026-08-28 00:15:19.273] [info] Accepted new action goal ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766914 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766914 ms (missed cycles : 2).[0m ×2 + 17.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793765 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793765 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 0.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.22sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 1.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174493 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174493 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.40sINFOros2_control_node[2026-08-28 00:13:07.257] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-08-28 00:13:07.257] [info] Accepted new action goal ×2 + 6.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799721 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799721 ms (missed cycles : 3).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905530 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905530 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988780 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988780 ms (missed cycles : 3).[0m ×2 + 10.08sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 10.11sINFOros2_control_node[2026-08-28 00:13:10.967] [info] Received new action goal ×2 + 10.11sINFOros2_control_node[2026-08-28 00:13:10.967] [info] Accepted new action goal ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.44sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 14.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 14.27sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 14.30sERRORobjective_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: 1787875995.15827012 seconds ×3 + 14.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 15.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.88sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 15.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.89sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 15.89sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 60 warnings · 245 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.51sERRORobjective_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: 1787876228.53345156 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749985 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749985 ms (missed cycles : 2).[0m ×2 + 7.99sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.00sINFOros2_control_node[2026-08-28 00:17:14.024] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-08-28 00:17:14.024] [info] Accepted new action goal ×2 + 8.00sINFOros2_control_node[2026-08-28 00:17:14.024] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.017906 ms (missed cycles : 7). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.017906 ms (missed cycles : 7).[0m ×2 + 9.57sWARNros2_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 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171840 ms (missed cycles : 4). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171840 ms (missed cycles : 4).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6).[0m ×2 + 15.00sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Got request to cancel active goal. ×2 + 15.00sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Canceling active goal... ×2 + 15.01sERRORobjective_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: 1787876241.03482389 seconds ×3 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4).[0m ×2 + 15.56sWARNros2_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 + 15.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787876241.64441299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5).[0m ×2 + 16.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787876242.73456168 seconds ×3 + 17.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787876243.33491421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.31sINFOobjective_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 + 17.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787876243.33745193 seconds ×3 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004702 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970552 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970552 ms (missed cycles : 4).[0m ×2 + 1.32sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.61sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787876033.78075171 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204305 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204305 ms (missed cycles : 5).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807549 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807549 ms (missed cycles : 2).[0m ×2 + 3.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642201 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642201 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787876036.65514708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×4 + 4.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:13:56.849] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:13:56.849] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545967 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545967 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843808 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843808 ms (missed cycles : 6).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924883 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924883 ms (missed cycles : 2).[0m ×2 + 8.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.17sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.47sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×4 + 8.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 1 iterations (0.00262792 s). ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787560 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787560 ms (missed cycles : 3).[0m ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 1 iterations (0.00633213 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 9.49sINFOros2_control_node[2026-08-28 00:14:01.642] [info] Received new action goal ×2 + 9.49sINFOros2_control_node[2026-08-28 00:14:01.642] [info] Accepted new action goal ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872716 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872716 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.676747 ms (missed cycles : 6). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.676747 ms (missed cycles : 6).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459872 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459872 ms (missed cycles : 2).[0m ×2 + 12.18sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.19sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.20sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.32sINFOobjective_server_nodeFound path in 1 iterations (0.00367052 s). ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.58sINFOros2_control_node[2026-08-28 00:14:04.733] [info] Received new action goal ×2 + 12.58sINFOros2_control_node[2026-08-28 00:14:04.733] [info] Accepted new action goal ×2 + 13.01sINFOros2_control_node[2026-08-28 00:14:05.165] [info] Received new action goal ×2 + 13.01sINFOros2_control_node[2026-08-28 00:14:05.165] [info] Accepted new action goal ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729271 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729271 ms (missed cycles : 2).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039994 ms (missed cycles : 3). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039994 ms (missed cycles : 3).[0m ×2 + 14.37sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.98sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876047.15894413 seconds ×3 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807850 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807850 ms (missed cycles : 2).[0m ×2 + 15.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787876047.95541954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 15.97sINFOros2_control_node[2026-08-28 00:14:08.129] [info] Received new action goal ×2 + 15.97sINFOros2_control_node[2026-08-28 00:14:08.129] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040337 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040337 ms (missed cycles : 3).[0m ×2 + 16.16sWARNros2_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 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560718 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560718 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 59 errors · 42 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6).[0m ×2 + 0.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Got request to cancel active goal. ×2 + 0.72sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Canceling active goal... ×2 + 0.73sERRORobjective_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: 1787876241.03482389 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4).[0m ×2 + 1.28sWARNros2_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 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787876241.64441299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787876242.73456168 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787876243.33491421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.03sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.03sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787876243.33745193 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787876244.05955648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787876244.06003594 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787876244.68031979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787876245.83047557 seconds ×3 + 5.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605790 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605790 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012900 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012900 ms (missed cycles : 3).[0m ×2 + 7.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067741 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067741 ms (missed cycles : 3).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198963 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198963 ms (missed cycles : 2).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907508 ms (missed cycles : 6). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907508 ms (missed cycles : 6).[0m ×2 + 10.86sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.90sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_video_auth_proxy-23process has died [pid 7463, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.90sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.93sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge_auth_proxy-22process has died [pid 7462, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.93sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.94sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789069 ms (missed cycles : 2). + 10.96sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.97sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.98sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.99sINFOvideo_server-21process has finished cleanly [pid 7461] ×2 + 11.00sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.01sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.02sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.04sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.05sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.06sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.07sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.08sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.10sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.10sINFOcontroller_managerShutdown request received.... + 11.10sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.10sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.10sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.10sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.10sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.10sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.10sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.10sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.10sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.10sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.10sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.10sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.10sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.10sINFOvideo_server2026/08/28 00:17:31 INF shutting down gracefully ×2 + 11.10sINFOcontroller_managerShutting down the controller manager. + 11.10sINFOvideo_server2026/08/28 00:17:31 INF [WebRTC] closing ×2 + 11.10sINFOvideo_server2026/08/28 00:17:31 INF [RTSP] closing ×2 + 11.10sINFOvideo_server2026/08/28 00:17:31 INF waiting for running hooks ×2 + 11.11sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789069 ms (missed cycles : 2).[0m ×2 + 11.11sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.11sERRORmove_group-9process has died [pid 7346, 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_t138jtms --params-file /tmp/launch_params_41w7sa11 --params-file /tmp/launch_params_t9gvc5jn --params-file /tmp/launch_params_6pl70tk7 --params-file /tmp/launch_params_4tll7u9d --params-file /tmp/launch_params_8hroc9d0']. ×2 + 11.11sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.11sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.11sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.11sERRORmove_groupStack trace (most recent call last) in thread 7704: ×2 + 11.11sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.11sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc8e6ea63, in __clone ×2 + 11.11sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc8de1aa3, in ×2 + 11.11sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc9073db3, in ×2 + 11.11sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7f4fc97e4a47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.11sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4fc9405620, in rclcpp::Rate::sleep() ×2 + 11.11sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4fc9347d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.11sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4fc9309087, in ×2 + 11.11sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc9042390, in __cxa_throw ×2 + 11.11sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc902ca54, in std::terminate() ×2 + 11.11sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc90420d9, in ×2 + 11.11sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4fc902cff4, in ×2 + 11.11sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc8d6d8fe, in abort ×2 + 11.11sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc8d8a27d, in raise ×2 + 11.11sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4fc8de3b2c, in pthread_kill ×2 + 11.11sERRORmove_groupAborted (Signal sent by tkill() 7346 0) ×2 + 11.12sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.12sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.12sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.12sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.12sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.12sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.12sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.12sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.12sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.12sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.31sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.31sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.32sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.00sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7451] ×2 + 12.00sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.08sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7350] ×2 + 12.09sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7349] ×2 + 12.10sINFOui_teleop_bridge-18process has finished cleanly [pid 7355] ×2 + 12.10sINFOcomponent_container_mt-16process has finished cleanly [pid 7353] ×2 + 12.11sINFOexecute_objective_bridge-17process has finished cleanly [pid 7354] ×2 + 12.14sINFOwaypoint_manager_node-11process has finished cleanly [pid 7348] ×2 + 12.15sINFOparameter_manager_node-10process has finished cleanly [pid 7347] ×2 + 12.18sINFOobjective_server_node[0;m[2026-08-28 00:17:32.483] [moveit_pro_license] [critical] ×2 + 12.18sINFOobjective_server_node************************************************* ×4 + 12.18sINFOobjective_server_node* MoveIt Pro License ×2 + 12.18sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.30sINFOobjective_server_node_main-14process has finished cleanly [pid 7351] ×2 + 12.30sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.20sINFOcomponent_container_mt-15process has finished cleanly [pid 7352] ×2 + 13.22sINFOweb_bridge-19process has finished cleanly [pid 7356] ×2 + 13.22sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.75sINFOros2_control_node-1process has finished cleanly [pid 7309] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 2578 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×403 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×403 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876185.02056527 seconds ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787876185.66571355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889635 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889635 ms (missed cycles : 2).[0m ×2 + 8.41sWARNros2_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 + 8.46sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.46sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354666 ms (missed cycles : 6). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354666 ms (missed cycles : 6).[0m ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 1 iterations (0.00307294 s). ×2 + 9.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.09sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.13sINFOros2_control_node[2026-08-28 00:16:30.107] [info] Received new action goal ×2 + 9.13sINFOros2_control_node[2026-08-28 00:16:30.107] [info] Accepted new action goal ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772136 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772136 ms (missed cycles : 3).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.989988 ms (missed cycles : 6). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.989988 ms (missed cycles : 6).[0m ×2 + 11.60sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 11.60sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 13.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.52sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 13.52sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 13.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 15.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 15.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.89sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 15.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.90sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 15.91sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 17.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 0.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3).[0m ×2 + 6.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.924241 ms (missed cycles : 7). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.924241 ms (missed cycles : 7).[0m ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.62sINFOros2_control_node[2026-08-28 00:13:38.124] [info] Received new action goal ×2 + 7.62sINFOros2_control_node[2026-08-28 00:13:38.124] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688252 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688252 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159201 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159201 ms (missed cycles : 2).[0m ×2 + 9.96sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 9.97sINFOros2_control_node[2026-08-28 00:13:40.472] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-08-28 00:13:40.472] [info] Accepted new action goal ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 12.31sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 12.33sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 12.33sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 12.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 14.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 14.53sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 14.53sERRORobjective_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: 1787876025.03302741 seconds ×3 + 15.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 15.38sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 15.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.40sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 15.40sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 101 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931170 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931170 ms (missed cycles : 3).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343429 ms (missed cycles : 6). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343429 ms (missed cycles : 6).[0m ×2 + 8.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599133 ms (missed cycles : 4). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599133 ms (missed cycles : 4).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582106 ms (missed cycles : 4). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582106 ms (missed cycles : 4).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777030 ms (missed cycles : 4). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777030 ms (missed cycles : 4).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518268 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518268 ms (missed cycles : 3).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.951303 ms (missed cycles : 5). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.951303 ms (missed cycles : 5).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706620 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706620 ms (missed cycles : 3).[0m ×2 + 14.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sERRORobjective_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: 1787876207.04286599 seconds ×3 + 14.79sWARNros2_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 + 15.08sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787876207.66326427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532720 ms (missed cycles : 5). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532720 ms (missed cycles : 5).[0m ×2 + 15.49sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 15.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.51sINFOros2_control_node[2026-08-28 00:16:48.093] [info] Received new action goal ×2 + 15.51sINFOros2_control_node[2026-08-28 00:16:48.093] [info] Accepted new action goal ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122882 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122882 ms (missed cycles : 2).[0m ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437238 ms (missed cycles : 5). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437238 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023259 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023259 ms (missed cycles : 2).[0m ×2 + 8.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.34sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.35sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576013 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576013 ms (missed cycles : 2).[0m ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 1 iterations (0.0027633 s). ×2 + 8.91sWARNros2_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 + 9.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.03sINFOobjective_server_nodeFound path in 1 iterations (0.00444272 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×4 + 9.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059844 ms (missed cycles : 4). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059844 ms (missed cycles : 4).[0m ×2 + 9.68sINFOros2_control_node[2026-08-28 00:13:51.056] [info] Received new action goal ×2 + 9.68sINFOros2_control_node[2026-08-28 00:13:51.056] [info] Accepted new action goal ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004702 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004702 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970552 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970552 ms (missed cycles : 4).[0m ×2 + 12.10sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.38sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.38sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.39sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787876033.78075171 seconds ×3 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204305 ms (missed cycles : 5). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204305 ms (missed cycles : 5).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807549 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807549 ms (missed cycles : 2).[0m ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642201 ms (missed cycles : 3). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642201 ms (missed cycles : 3).[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787876036.65514708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sINFOros2_control_node[2026-08-28 00:13:56.849] [info] Received new action goal ×2 + 15.47sINFOros2_control_node[2026-08-28 00:13:56.849] [info] Accepted new action goal ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545967 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545967 ms (missed cycles : 2).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843808 ms (missed cycles : 6). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843808 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.8s | 3 errors · 54 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535620 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535620 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634771 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634771 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407115 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407115 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142050 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142050 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787876217.70458007 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900685 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900685 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787876218.31318283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNros2_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 ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.29sINFOros2_control_node[2026-08-28 00:16:58.447] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-28 00:16:58.447] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139798 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139798 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899801 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899801 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645087 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645087 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977647 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977647 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606036 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606036 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 12.37sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 14.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sERRORobjective_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: 1787876228.53345156 seconds ×3 + 15.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 15.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.72sINFOobjective_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 + 15.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 16.44sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.55sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 16.55sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.56sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 16.56sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.7s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777030 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777030 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518268 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518268 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.951303 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.951303 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706620 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706620 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: 1787876207.04286599 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787876207.66326427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532720 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532720 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.55sINFOros2_control_node[2026-08-28 00:16:48.093] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-28 00:16:48.093] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122882 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122882 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437238 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437238 ms (missed cycles : 5).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.075787 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.075787 ms (missed cycles : 5).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758410 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758410 ms (missed cycles : 3).[0m ×2 + 8.57sINFOros2_control_node[2026-08-28 00:16:52.119] [info] Received new action goal ×2 + 8.57sINFOros2_control_node[2026-08-28 00:16:52.119] [info] Accepted new action goal ×2 + 8.88sWARNros2_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 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801435 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801435 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535620 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535620 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634771 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634771 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407115 ms (missed cycles : 4). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407115 ms (missed cycles : 4).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142050 ms (missed cycles : 4). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142050 ms (missed cycles : 4).[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787876217.70458007 seconds ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900685 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900685 ms (missed cycles : 3).[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787876218.31318283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.90sINFOros2_control_node[2026-08-28 00:16:58.447] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-08-28 00:16:58.447] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139798 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139798 ms (missed cycles : 2).[0m ×2 + 16.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899801 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899801 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 34 warnings · 148 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787876059.21487880 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 3.81sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 7.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.73sINFOobjective_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 + 7.73sINFOobjective_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 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.07sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 8.07sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 8.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 29 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6).[0m ×2 + 3.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Canceling active goal... ×2 + 3.91sERRORobjective_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: 1787876241.03482389 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4).[0m ×2 + 4.47sWARNros2_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 + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787876241.64441299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787876242.73456168 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787876243.33491421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.21sINFOobjective_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 + 6.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787876243.33745193 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4).[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787876244.05955648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787876244.06003594 seconds ×3 + 7.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787876244.68031979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 36 warnings · 563 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.06sINFOobjective_server_node[2026-08-28 00:12:55.894] [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 + 0.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.18sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.18sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.20sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.20sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.20sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.40sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.40sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.67sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.67sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.67sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.67sWARNros2_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 + 0.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.67sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.67sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.67sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.67sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.67sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.67sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.67sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.67sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019997 ms (missed cycles : 2). + 0.68sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.68sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.68sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.68sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.68sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019997 ms (missed cycles : 2).[0m ×2 + 0.76sWARNobjective_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 + 0.76sINFOcomponent_container_mt[2026-08-28 00:12:56.595] [moveit_pro_license] [info] ×2 + 0.76sINFOcomponent_container_mt************************************************* ×4 + 0.76sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.76sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.87sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.20sINFOros2-2process has finished cleanly [pid 7310] ×2 + 1.23sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.23sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.27sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.28sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.28sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.28sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.28sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.28sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.29sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.29sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.29sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.60sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.64sINFOros2-4process has finished cleanly [pid 7312] ×2 + 1.71sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.71sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2).[0m ×2 + 1.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.75sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.75sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.75sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.78sINFOros2_control_node[2026-08-28 00:12:57.612] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.78sINFOros2_control_node[2026-08-28 00:12:57.612] [info] Controller state will be published at 50 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-28 00:12:57.619] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2-6process has finished cleanly [pid 7314] ×2 + 2.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 2.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 2.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.22sINFOros2_control_node[2026-08-28 00:12:58.050] [info] Controller state will be published at 20 Hz. ×2 + 2.22sINFOros2_control_node[2026-08-28 00:12:58.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.55sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 2.55sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 2.56sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.56sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.60sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.60sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.61sINFOros2-8process has finished cleanly [pid 7316] ×2 + 2.61sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.61sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.61sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.63sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.63sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.80sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.85sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.85sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.92sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 2.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 2.98sINFOros2-3process has finished cleanly [pid 7311] ×2 + 2.99sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.99sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.99sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.99sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.99sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.99sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.99sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.00sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.00sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.00sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.00sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.01sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.01sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.13sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.32sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.32sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.32sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.34sINFOros2-5process has finished cleanly [pid 7313] ×2 + 3.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 3.39sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 3.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.46sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 3.47sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 3.83sINFOros2-7process has finished cleanly [pid 7315] ×2 + 4.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 5.25sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 6.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 7.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 8.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 25 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 2.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.58sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 2.58sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 3.41sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787875995.15827012 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896562 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896562 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787876059.21487880 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 4.91sWARNros2_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 + 4.94sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.07sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 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 1.942293 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Got request to cancel active goal. ×2 + 1.82sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Canceling active goal... ×2 + 1.83sERRORobjective_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: 1787876241.03482389 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_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 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787876241.64441299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787876242.73456168 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787876243.33491421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.13sINFOobjective_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 + 4.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787876243.33745193 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787876244.05955648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787876244.06003594 seconds ×3 + 5.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787876244.68031979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787876245.83047557 seconds ×3 + 6.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605790 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605790 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:13:29.983] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:13:29.983] [info] Accepted new action goal ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297689 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297689 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_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 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.78sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 1.73sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sERRORobjective_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: 1787876228.53345156 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 427 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7312] ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2).[0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] Controller state will be published at 50 Hz. ×2 + 0.19sINFOros2_control_node[2026-08-28 00:12:57.619] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.050] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.96sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.38sINFOros2-3process has finished cleanly [pid 7311] ×2 + 1.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.74sINFOros2-5process has finished cleanly [pid 7313] ×2 + 1.79sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 2.23sINFOros2-7process has finished cleanly [pid 7315] ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 3.65sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 7.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.29sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.31sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_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: 1787876228.53345156 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 24 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6).[0m ×2 + 1.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Got request to cancel active goal. ×2 + 1.82sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Canceling active goal... ×2 + 1.83sERRORobjective_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: 1787876241.03482389 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4).[0m ×2 + 2.38sWARNros2_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 + 2.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787876241.64441299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787876242.73456168 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787876243.33491421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.13sINFOobjective_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 + 4.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787876243.33745193 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787876244.05955648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787876244.06003594 seconds ×3 + 5.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787876244.68031979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120139 ms (missed cycles : 4).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787876245.83047557 seconds ×3 + 6.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605790 ms (missed cycles : 2). | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 0.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3).[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 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 25 warnings · 120 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 25 warnings · 120 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-28 00:15:14.889] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-28 00:15:14.889] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354620 ms (missed cycles : 5). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354620 ms (missed cycles : 5).[0m ×2 + 0.47sWARNros2_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 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558623 ms (missed cycles : 5). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558623 ms (missed cycles : 5).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897375 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897375 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787876118.49458337 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754410 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754410 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787876119.10963392 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.52sINFOros2_control_node[2026-08-28 00:15:19.273] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-28 00:15:19.273] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766914 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766914 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793765 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793765 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2487 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×403 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×403 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876185.02056527 seconds ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787876185.66571355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 1.73sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sERRORobjective_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: 1787876228.53345156 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 1.73sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sERRORobjective_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: 1787876228.53345156 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 1.73sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sERRORobjective_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: 1787876228.53345156 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_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: 1787876228.53345156 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_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: 1787876228.53345156 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6).[0m ×2 + 3.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Canceling active goal... ×2 + 3.91sERRORobjective_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: 1787876241.03482389 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4).[0m ×2 + 4.47sWARNros2_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 + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787876241.64441299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787876242.73456168 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787876243.33491421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.21sINFOobjective_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 + 6.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787876243.33745193 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818939 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895090 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942293 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.498684 ms (missed cycles : 6).[0m ×2 + 3.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Got request to cancel active goal. ×2 + 3.91sINFOros2_control_node[2026-08-28 00:17:21.030] [info] Canceling active goal... ×2 + 3.91sERRORobjective_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: 1787876241.03482389 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159435 ms (missed cycles : 4).[0m ×2 + 4.47sWARNros2_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 + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787876241.64441299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274135 ms (missed cycles : 5).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787876242.73456168 seconds ×3 + 6.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787876243.33491421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.21sINFOobjective_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 + 6.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787876243.33745193 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595950 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 2.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.58sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 2.58sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 3.41sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787875995.15827012 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760524 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.56sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 2.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.58sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 2.58sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 3.41sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787875995.15827012 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.03sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1787875995.15827012 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1787875995.15827012 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1787875995.15827012 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559667 ms (missed cycles : 2).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692632 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-28 00:13:14.297] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247214 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_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 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-28 00:13:15.133] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1787875995.15827012 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787875995.80384231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787875995.92397714 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678198 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787875996.54959059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-28 00:13:16.753] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196059 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669235 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 0.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 0.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 0.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976106 ms (missed cycles : 3).[0m ×2 + 0.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.894] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-08-28 00:13:31.895] [info] Accepted new action goal ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811473 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787876013.28102160 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6). + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180651 ms (missed cycles : 6).[0m ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787876013.91201448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787876013.98214698 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100055 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787876014.64014030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-28 00:13:34.764] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840445 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812206 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[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 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 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 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606703 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002632 ms (missed cycles : 4).[0m ×2 + 1.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Received new action goal ×2 + 1.45sINFOros2_control_node[2026-08-28 00:13:42.831] [info] Accepted new action goal ×2 + 2.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394138 ms (missed cycles : 4).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727017 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-28 00:13:45.030] [info] Canceling active goal... ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876025.03302741 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.30sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787876025.67853904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717003 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-28 00:13:45.902] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084475 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828572 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459872 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459872 ms (missed cycles : 2).[0m ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.29sINFOobjective_server_nodeFound path in 1 iterations (0.00367052 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.55sINFOros2_control_node[2026-08-28 00:14:04.733] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-08-28 00:14:04.733] [info] Accepted new action goal ×2 + 0.98sINFOros2_control_node[2026-08-28 00:14:05.165] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-28 00:14:05.165] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729271 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729271 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039994 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039994 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787876047.15894413 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807850 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807850 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787876047.95541954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.94sINFOros2_control_node[2026-08-28 00:14:08.129] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-28 00:14:08.129] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040337 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040337 ms (missed cycles : 3).[0m ×2 + 4.13sWARNros2_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 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560718 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560718 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896562 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896562 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523936 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965875 ms (missed cycles : 3).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210164 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787876059.21487880 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 4.91sWARNros2_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 + 4.94sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.07sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 25 warnings · 120 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 25 warnings · 120 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 25 warnings · 120 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 120 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 25 warnings · 120 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787876059.88535690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330725 ms (missed cycles : 2).[0m ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787876059.95548844 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787876060.56878543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-28 00:14:20.700] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229700 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705092 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787876062.70894742 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763321 ms (missed cycles : 2).[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802312 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787876064.37506032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.57sINFOobjective_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 + 4.58sINFOobjective_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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.802] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-28 00:14:24.803] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.983332 ms (missed cycles : 5).[0m ×2 + 5.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345236 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2487 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×403 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×403 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876185.02056527 seconds ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787876185.66571355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2487 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×403 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×403 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876185.02056527 seconds ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787876185.66571355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2487 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×403 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×403 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876185.02056527 seconds ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787876185.66571355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2487 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×403 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×403 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×806 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×806 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146438 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862560 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783237 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002465 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787876185.02056527 seconds ×3 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506004 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787876185.66571355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.78sINFOobjective_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 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-28 00:16:25.869] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.146988 ms (missed cycles : 6).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547790 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:16:32.579] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187849 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261959 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-28 00:16:34.499] [info] Accepted new action goal ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353027 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1787876195.88593626 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284814 ms (missed cycles : 6).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787876196.70225239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:16:36.886] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199009 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805001 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777030 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777030 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518268 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518268 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.951303 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.951303 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706620 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706620 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: 1787876207.04286599 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787876207.66326427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532720 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532720 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.55sINFOros2_control_node[2026-08-28 00:16:48.093] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-28 00:16:48.093] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122882 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122882 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437238 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437238 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535620 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535620 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634771 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634771 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407115 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407115 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142050 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142050 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787876217.70458007 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900685 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900685 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787876218.31318283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNros2_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 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.29sINFOros2_control_node[2026-08-28 00:16:58.447] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-28 00:16:58.447] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139798 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139798 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899801 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899801 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129889 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 1.73sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sERRORobjective_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: 1787876228.53345156 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771597 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760193 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198362 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sERRORobjective_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: 1787876228.53345156 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787876229.19464707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787876229.26479816 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518335 ms (missed cycles : 5).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787876229.86063862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787876229.88400555 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913089 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787876230.60027242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:17:10.717] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509768 ms (missed cycles : 6).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542170 ms (missed cycles : 5).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.2s | 39 warnings · 623 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-28-00-12-50-215287-7a30bfca22f0-7261 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972703 ms (missed cycles : 2). + 2.06sINFOros2_control_node-1process started with pid [7309] ×2 + 2.06sINFOmove_group-9process started with pid [7346] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [7347] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [7348] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [7349] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [7350] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [7351] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [7352] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [7353] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [7354] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [7355] ×2 + 2.07sINFOweb_bridge-19process started with pid [7356] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [7451] ×2 + 2.07sINFOvideo_server-21process started with pid [7461] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [7462] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [7463] ×2 + 2.09sINFOros2-2process started with pid [7310] ×2 + 2.09sINFOros2-3process started with pid [7311] ×2 + 2.09sINFOros2-4process started with pid [7312] ×2 + 2.09sINFOros2-5process started with pid [7313] ×2 + 2.09sINFOros2-6process started with pid [7314] ×2 + 2.09sINFOros2-7process started with pid [7315] ×2 + 2.09sINFOros2-8process started with pid [7316] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.12sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.17sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972703 ms (missed cycles : 2).[0m ×2 + 2.17sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.18sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF configuration loaded from /tmp/moveit-webrtc-2e7lsb6x/mediamtx.yml ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066654 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066654 ms (missed cycles : 2).[0m ×2 + 3.19sINFOmove_group[2026-08-28 00:12:54.110] [moveit_pro_license] [info] ×2 + 3.19sINFOmove_group************************************************* ×4 + 3.19sINFOmove_group* MoveIt Pro License ×2 + 3.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.45sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.46sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.46sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.50sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 3.50sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 3.61sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.66sINFOwaypoint_manager_node[2026-08-28 00:12:54.587] [moveit_pro_license] [info] ×2 + 3.66sINFOwaypoint_manager_node************************************************* ×4 + 3.66sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.66sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.67sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.67sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.69sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.74sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.76sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.76sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.83sINFOmove_group ×4 + 3.83sINFOmove_group[92mYou can start planning now![0m ×2 + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.97sINFOobjective_server_node[2026-08-28 00:12:55.894] [moveit_pro_license] [info] ×2 + 4.97sINFOobjective_server_node************************************************* ×4 + 4.97sINFOobjective_server_node* MoveIt Pro License ×2 + 4.97sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 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. ×2 + 5.09sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.10sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.10sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.10sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.30sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.30sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.57sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.57sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.58sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.58sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 5.58sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.58sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.58sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.58sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.58sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.58sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.58sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.58sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.58sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.58sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.58sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019997 ms (missed cycles : 2). + 5.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.58sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019997 ms (missed cycles : 2).[0m ×2 + 5.67sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.67sINFOcomponent_container_mt[2026-08-28 00:12:56.595] [moveit_pro_license] [info] ×2 + 5.67sINFOcomponent_container_mt************************************************* ×4 + 5.67sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.67sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.74sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.74sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.74sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.74sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.74sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 5.74sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 5.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.77sINFOforce_torque_sensor_broadcasterconfigure successful + 5.77sINFOros2_control_nodeconfigure successful[0m ×2 + 5.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.77sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.08sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.08sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.11sINFOros2-2process has finished cleanly [pid 7310] ×2 + 6.14sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 6.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 6.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 6.18sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.18sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 6.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.50sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.50sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.50sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.55sINFOros2-4process has finished cleanly [pid 7312] ×2 + 6.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 6.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2).[0m ×2 + 6.66sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.66sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.66sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.66sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.68sINFOros2_control_node[2026-08-28 00:12:57.612] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.69sINFOros2_control_node[2026-08-28 00:12:57.612] [info] Controller state will be published at 50 Hz. ×2 + 6.69sINFOros2_control_node[2026-08-28 00:12:57.619] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.99sINFOros2-6process has finished cleanly [pid 7314] ×2 + 7.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 7.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 7.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.12sINFOros2_control_node[2026-08-28 00:12:58.050] [info] Controller state will be published at 20 Hz. ×2 + 7.13sINFOros2_control_node[2026-08-28 00:12:58.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.45sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 7.45sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 7.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.52sINFOros2-8process has finished cleanly [pid 7316] ×2 + 7.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 7.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 7.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.71sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 7.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 7.88sINFOros2-3process has finished cleanly [pid 7311] ×2 + 7.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.91sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.91sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.23sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.23sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.23sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.23sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.24sINFOros2-5process has finished cleanly [pid 7313] ×2 + 8.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 8.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 8.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.37sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 8.37sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 8.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 8.74sINFOros2-7process has finished cleanly [pid 7315] ×2 + 9.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 9.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 10.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 10.15sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 11.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 11.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 307 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7311] ×2 + 0.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.02sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.02sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.36sINFOros2-5process has finished cleanly [pid 7313] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2-7process has finished cleanly [pid 7315] ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 2.27sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.93sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 375 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOros2-8process has finished cleanly [pid 7316] ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.43sINFOros2-3process has finished cleanly [pid 7311] ×2 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.45sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.78sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 7313] ×2 + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.89sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.89sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.92sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2-7process has finished cleanly [pid 7315] ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 2.70sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 6.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.36sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 307 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7311] ×2 + 0.01sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.01sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.02sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.02sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.02sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.36sINFOros2-5process has finished cleanly [pid 7313] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 0.49sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2-7process has finished cleanly [pid 7315] ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 2.27sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.93sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7312] ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2).[0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] Controller state will be published at 50 Hz. ×2 + 0.19sINFOros2_control_node[2026-08-28 00:12:57.619] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.050] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.96sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.38sINFOros2-3process has finished cleanly [pid 7311] ×2 + 1.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.74sINFOros2-5process has finished cleanly [pid 7313] ×2 + 1.79sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 2.23sINFOros2-7process has finished cleanly [pid 7315] ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 3.65sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-28-00-12-50-215287-7a30bfca22f0-7261 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972703 ms (missed cycles : 2). + 2.06sINFOros2_control_node-1process started with pid [7309] ×2 + 2.06sINFOmove_group-9process started with pid [7346] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [7347] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [7348] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [7349] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [7350] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [7351] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [7352] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [7353] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [7354] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [7355] ×2 + 2.07sINFOweb_bridge-19process started with pid [7356] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [7451] ×2 + 2.07sINFOvideo_server-21process started with pid [7461] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [7462] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [7463] ×2 + 2.09sINFOros2-2process started with pid [7310] ×2 + 2.09sINFOros2-3process started with pid [7311] ×2 + 2.09sINFOros2-4process started with pid [7312] ×2 + 2.09sINFOros2-5process started with pid [7313] ×2 + 2.09sINFOros2-6process started with pid [7314] ×2 + 2.09sINFOros2-7process started with pid [7315] ×2 + 2.09sINFOros2-8process started with pid [7316] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.12sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.17sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972703 ms (missed cycles : 2).[0m ×2 + 2.17sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.18sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF configuration loaded from /tmp/moveit-webrtc-2e7lsb6x/mediamtx.yml ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.49sINFOvideo_server2026/08/28 00:12:53 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7312] ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2).[0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] Controller state will be published at 50 Hz. ×2 + 0.19sINFOros2_control_node[2026-08-28 00:12:57.619] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.050] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.96sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.38sINFOros2-3process has finished cleanly [pid 7311] ×2 + 1.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.74sINFOros2-5process has finished cleanly [pid 7313] ×2 + 1.79sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 2.23sINFOros2-7process has finished cleanly [pid 7315] ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 3.65sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 7312] ×2 + 0.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691703 ms (missed cycles : 2).[0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-08-28 00:12:57.587] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-08-28 00:12:57.612] [info] Controller state will be published at 50 Hz. ×2 + 0.19sINFOros2_control_node[2026-08-28 00:12:57.619] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7314] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.050] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-28 00:12:58.052] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.96sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.01sINFOros2-8process has finished cleanly [pid 7316] ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.02sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.32sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.32sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.38sINFOros2-3process has finished cleanly [pid 7311] ×2 + 1.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.74sINFOros2-5process has finished cleanly [pid 7313] ×2 + 1.79sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 1.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 1.84sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.84sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 2.23sINFOros2-7process has finished cleanly [pid 7315] ×2 + 2.55sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 3.65sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 4.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 375 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.07sINFOros2-8process has finished cleanly [pid 7316] ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.43sINFOros2-3process has finished cleanly [pid 7311] ×2 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.45sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.78sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 7313] ×2 + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kih308z3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_96i3lfw8 --params-file /tmp/launch_params_q_cqdoa1 [0m ×2 + 0.89sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.89sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.92sINFOros2_control_node[2026-08-28 00:12:59.298] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-28 00:12:59.299] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787875979.37681627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787875979.38703632 seconds ×3 + 1.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2-7process has finished cleanly [pid 7315] ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 2.70sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 6.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.36sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 + 7.00sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174493 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174493 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715151 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2-7process has finished cleanly [pid 7315] ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787875979.98035002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729991 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787875981.04051447 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787875981.67302918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787875981.73320508 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405897 ms (missed cycles : 2).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787875982.39153147 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787875982.41165829 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.561671 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787875983.12601900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787875983.27674031 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531197 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787875983.94774866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787875983.98789930 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787875984.60246062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.4253e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-28 00:13:04.739] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858930 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318775 ms (missed cycles : 2).[0m ×2 | ||||