117
Total objective tests
31
Objectives passed
0
Objectives failed
86
Objectives skipped
9.0s
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 · 18544 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226867 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226867 ms (missed cycles : 5).[0m ×2 + 0.05sINFOobjective_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 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.05sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.05sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.05sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.17sINFOros2_control_node[2026-08-28 00:45:23.336] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-08-28 00:45:23.336] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.402855 ms (missed cycles : 7). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.402855 ms (missed cycles : 7).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770511 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770511 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589457 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589457 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787877926.94193935 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906748 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906748 ms (missed cycles : 6).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787877927.55183697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNros2_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 ×4 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.56sINFOros2_control_node[2026-08-28 00:45:27.725] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-28 00:45:27.725] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135936 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135936 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_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 + 5.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709489 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709489 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602538 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602538 ms (missed cycles : 2).[0m ×2 + 8.08sINFOjoint_trajectory_controllerReceived new action goal ×3049 + 8.08sINFOjoint_trajectory_controllerAccepted new action goal ×3049 + 8.09sINFOros2_control_nodeReceived new action goal[0m ×6098 + 8.09sINFOros2_control_nodeAccepted new action goal[0m ×6098 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688998 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688998 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.298677 ms (missed cycles : 8). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.298677 ms (missed cycles : 8).[0m ×2 + 9.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×4 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772540 ms (missed cycles : 5). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772540 ms (missed cycles : 5).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678429 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678429 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801542 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801542 ms (missed cycles : 2).[0m ×2 + 12.89sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.89sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.90sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000252 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000252 ms (missed cycles : 2).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980428 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980428 ms (missed cycles : 2).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894570 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894570 ms (missed cycles : 2).[0m ×2 + 16.54sWARNros2_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 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806382 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806382 ms (missed cycles : 2).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173312 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173312 ms (missed cycles : 2).[0m ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752002 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752002 ms (missed cycles : 2).[0m ×2 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692839 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692839 ms (missed cycles : 2).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.109901 ms (missed cycles : 7). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.109901 ms (missed cycles : 7).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763059 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763059 ms (missed cycles : 2).[0m ×2 + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467527 ms (missed cycles : 2). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467527 ms (missed cycles : 2).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246430 ms (missed cycles : 2). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246430 ms (missed cycles : 2).[0m ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663425 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663425 ms (missed cycles : 3).[0m ×2 + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.301993 ms (missed cycles : 7). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.301993 ms (missed cycles : 7).[0m ×2 + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714688 ms (missed cycles : 2). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714688 ms (missed cycles : 2).[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371520 ms (missed cycles : 3). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371520 ms (missed cycles : 3).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767018 ms (missed cycles : 2). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767018 ms (missed cycles : 2).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524583 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524583 ms (missed cycles : 2).[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790264 ms (missed cycles : 2). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790264 ms (missed cycles : 2).[0m ×2 + 31.53sWARNros2_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 + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612754 ms (missed cycles : 3). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612754 ms (missed cycles : 3).[0m ×2 + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718819 ms (missed cycles : 2). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718819 ms (missed cycles : 2).[0m ×2 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911583 ms (missed cycles : 2). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911583 ms (missed cycles : 2).[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473879 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473879 ms (missed cycles : 2).[0m ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681486 ms (missed cycles : 2). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681486 ms (missed cycles : 2).[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338464 ms (missed cycles : 2). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338464 ms (missed cycles : 2).[0m ×2 + 37.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 38.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885462 ms (missed cycles : 2). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885462 ms (missed cycles : 2).[0m ×2 + 39.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815774 ms (missed cycles : 2). + 39.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815774 ms (missed cycles : 2).[0m ×2 + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709919 ms (missed cycles : 2). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709919 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524157 ms (missed cycles : 2). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524157 ms (missed cycles : 2).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240710 ms (missed cycles : 2). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240710 ms (missed cycles : 2).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065839 ms (missed cycles : 2). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065839 ms (missed cycles : 2).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229512 ms (missed cycles : 2). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229512 ms (missed cycles : 2).[0m ×2 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319866 ms (missed cycles : 2). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319866 ms (missed cycles : 2).[0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856062 ms (missed cycles : 2). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856062 ms (missed cycles : 2).[0m ×2 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952353 ms (missed cycles : 2). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952353 ms (missed cycles : 2).[0m ×2 + 48.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877971.36986351 seconds ×3 + 48.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787877972.00531960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.88sINFOobjective_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 + 48.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401195 ms (missed cycles : 3). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401195 ms (missed cycles : 3).[0m ×2 + 48.99sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 49.00sINFOros2_control_node[2026-08-28 00:46:12.168] [info] Received new action goal ×2 + 49.00sINFOros2_control_node[2026-08-28 00:46:12.168] [info] Accepted new action goal ×2 + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026444 ms (missed cycles : 2). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026444 ms (missed cycles : 2).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843392 ms (missed cycles : 2). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843392 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 156 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×12 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 + 7.14sWARNros2_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 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309909 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309909 ms (missed cycles : 4).[0m ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 7.80sINFOros2_control_node[2026-08-28 00:44:36.334] [info] Received new action goal ×2 + 7.80sINFOros2_control_node[2026-08-28 00:44:36.334] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249319 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249319 ms (missed cycles : 4).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.941527 ms (missed cycles : 5). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.941527 ms (missed cycles : 5).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655974 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655974 ms (missed cycles : 2).[0m ×2 + 10.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.97sINFOros2_control_node[2026-08-28 00:44:39.504] [info] Received new action goal ×2 + 10.97sINFOros2_control_node[2026-08-28 00:44:39.504] [info] Accepted new action goal ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169717 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169717 ms (missed cycles : 5).[0m ×2 + 12.18sWARNros2_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 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501635 ms (missed cycles : 4). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501635 ms (missed cycles : 4).[0m ×2 + 13.94sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 13.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.99sINFOros2_control_node[2026-08-28 00:44:42.526] [info] Received new action goal ×2 + 13.99sINFOros2_control_node[2026-08-28 00:44:42.526] [info] Accepted new action goal ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440011 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440011 ms (missed cycles : 2).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019879 ms (missed cycles : 4). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019879 ms (missed cycles : 4).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889269 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889269 ms (missed cycles : 2).[0m ×2 + 16.95sINFOobjective_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 + 16.95sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.95sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.96sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.96sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270091 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270091 ms (missed cycles : 2).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290128 ms (missed cycles : 5). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290128 ms (missed cycles : 5).[0m ×2 + 18.93sWARNros2_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 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919046 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919046 ms (missed cycles : 2).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187675 ms (missed cycles : 5). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187675 ms (missed cycles : 5).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890542 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890542 ms (missed cycles : 2).[0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282252 ms (missed cycles : 4). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282252 ms (missed cycles : 4).[0m ×2 + 23.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.71sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.72sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.72sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.72sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.94sWARNros2_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 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182417 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182417 ms (missed cycles : 2).[0m ×2 + 24.60sINFOros2_control_node[2026-08-28 00:44:53.133] [info] Received new action goal ×2 + 24.60sINFOros2_control_node[2026-08-28 00:44:53.133] [info] Accepted new action goal ×2 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858869 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858869 ms (missed cycles : 2).[0m ×2 + 25.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.77sINFOobjective_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 + 26.07sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 26.07sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.12sINFOros2_control_node[2026-08-28 00:44:54.657] [info] Received new action goal ×2 + 26.12sINFOros2_control_node[2026-08-28 00:44:54.657] [info] Accepted new action goal ×2 + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658391 ms (missed cycles : 2). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658391 ms (missed cycles : 2).[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.457975 ms (missed cycles : 7). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.457975 ms (missed cycles : 7).[0m ×2 + 28.24sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 28.25sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.26sINFOros2_control_node[2026-08-28 00:44:56.794] [info] Received new action goal ×2 + 28.26sINFOros2_control_node[2026-08-28 00:44:56.794] [info] Accepted new action goal ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381657 ms (missed cycles : 3). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381657 ms (missed cycles : 3).[0m ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.126605 ms (missed cycles : 4). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.126605 ms (missed cycles : 4).[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195588 ms (missed cycles : 2). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195588 ms (missed cycles : 2).[0m ×2 + 31.30sINFOros2_control_node[2026-08-28 00:44:59.833] [info] Received new action goal ×2 + 31.30sINFOros2_control_node[2026-08-28 00:44:59.833] [info] Accepted new action goal ×2 + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295126 ms (missed cycles : 4). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.295126 ms (missed cycles : 4).[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.710009 ms (missed cycles : 5). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.710009 ms (missed cycles : 5).[0m ×2 + 33.89sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 33.90sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.94sINFOros2_control_node[2026-08-28 00:45:02.477] [info] Received new action goal ×2 + 33.94sINFOros2_control_node[2026-08-28 00:45:02.477] [info] Accepted new action goal ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401495 ms (missed cycles : 3). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401495 ms (missed cycles : 3).[0m ×2 + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808012 ms (missed cycles : 2). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808012 ms (missed cycles : 2).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530918 ms (missed cycles : 3). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.530918 ms (missed cycles : 3).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102175 ms (missed cycles : 2). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102175 ms (missed cycles : 2).[0m ×2 + 38.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685623 ms (missed cycles : 2). + 38.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685623 ms (missed cycles : 2).[0m ×2 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388284 ms (missed cycles : 4). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388284 ms (missed cycles : 4).[0m ×2 + 40.16sWARNros2_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 + 40.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414413 ms (missed cycles : 4). + 40.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414413 ms (missed cycles : 4).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647416 ms (missed cycles : 2). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647416 ms (missed cycles : 2).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353658 ms (missed cycles : 4). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353658 ms (missed cycles : 4).[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009700 ms (missed cycles : 2). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009700 ms (missed cycles : 2).[0m ×2 + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990469 ms (missed cycles : 5). + 44.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990469 ms (missed cycles : 5).[0m ×2 + 45.23sINFOros2_control_node[2026-08-28 00:45:13.763] [info] Received new action goal ×2 + 45.23sINFOros2_control_node[2026-08-28 00:45:13.763] [info] Accepted new action goal ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444425 ms (missed cycles : 4). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444425 ms (missed cycles : 4).[0m ×2 + 46.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787877914.93951988 seconds ×3 + 46.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767980 ms (missed cycles : 2). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767980 ms (missed cycles : 2).[0m ×2 + 47.43sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787877915.97166991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971611 ms (missed cycles : 8). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971611 ms (missed cycles : 8).[0m ×2 + 48.65sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 48.67sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.69sINFOros2_control_node[2026-08-28 00:45:17.230] [info] Received new action goal ×2 + 48.69sINFOros2_control_node[2026-08-28 00:45:17.230] [info] Accepted new action goal ×2 + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430869 ms (missed cycles : 2). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430869 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13396 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2206 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2206 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4412 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4412 + 0.40sWARNros2_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 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229512 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229512 ms (missed cycles : 2).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319866 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319866 ms (missed cycles : 2).[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856062 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856062 ms (missed cycles : 2).[0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952353 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952353 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877971.36986351 seconds ×3 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787877972.00531960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401195 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401195 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-28 00:46:12.168] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-28 00:46:12.168] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026444 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026444 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_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 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843392 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813137 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813137 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703552 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703552 ms (missed cycles : 2).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937389 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937389 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813850 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813850 ms (missed cycles : 2).[0m ×2 + 11.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 11.64sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791731 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791731 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011920 ms (missed cycles : 4). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011920 ms (missed cycles : 4).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281298 ms (missed cycles : 4). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281298 ms (missed cycles : 4).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875464 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875464 ms (missed cycles : 2).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675759 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675759 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801492 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801492 ms (missed cycles : 2).[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798100 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798100 ms (missed cycles : 2).[0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070355 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070355 ms (missed cycles : 2).[0m ×2 + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669853 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669853 ms (missed cycles : 2).[0m ×2 + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375623 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375623 ms (missed cycles : 2).[0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2).[0m ×2 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3).[0m ×2 + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2).[0m ×2 + 26.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877993.48839974 seconds ×3 + 26.23sWARNros2_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 + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2).[0m ×2 + 26.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787877994.12946224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.94sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 26.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.95sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Received new action goal ×2 + 26.95sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Accepted new action goal ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6).[0m ×2 + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 14.7s | 3 errors · 63 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×4 + 1.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 1.84sWARNros2_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 + 2.06sINFOobjective_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 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 2.08sERRORobjective_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: 1787877806.87812591 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613990 ms (missed cycles : 6). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.613990 ms (missed cycles : 6).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078640 ms (missed cycles : 5). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078640 ms (missed cycles : 5).[0m ×2 + 8.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796383 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796383 ms (missed cycles : 3).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109472 ms (missed cycles : 4). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109472 ms (missed cycles : 4).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.486369 ms (missed cycles : 7). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.486369 ms (missed cycles : 7).[0m ×2 + 11.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.12sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 11.42sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 11.43sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 11.45sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 11.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 11.55sINFOobjective_server_nodeFound path in 1 iterations (0.00311073 s). ×2 + 11.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 11.79sINFOros2_control_node[2026-08-28 00:43:36.588] [info] Received new action goal ×2 + 11.79sINFOros2_control_node[2026-08-28 00:43:36.588] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288849 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288849 ms (missed cycles : 4).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996553 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996553 ms (missed cycles : 2).[0m ×2 + 14.27sINFOros2_control_node[2026-08-28 00:43:39.062] [info] Received new action goal ×2 + 14.27sINFOros2_control_node[2026-08-28 00:43:39.062] [info] Accepted new action goal ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[0m ×2 + 16.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 16.18sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Received new action goal ×2 + 16.18sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 17.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 18.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 18.93sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.04sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 19.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 19.06sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 19.06sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679310 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679310 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.01e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.96sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 1.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.06sINFOobjective_server_nodeFound path in 1 iterations (0.0035989 s). ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789551 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789551 ms (missed cycles : 6).[0m ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.30sINFOros2_control_node[2026-08-28 00:44:13.831] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-08-28 00:44:13.831] [info] Accepted new action goal ×2 + 1.73sINFOros2_control_node[2026-08-28 00:44:14.263] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-08-28 00:44:14.263] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499824 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499824 ms (missed cycles : 6).[0m ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514310 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514310 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_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 + 3.33sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.33sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sERRORobjective_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: 1787877855.85944057 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787877856.70022607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026962 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026962 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.31sINFOros2_control_node[2026-08-28 00:44:16.834] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:44:16.834] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930181 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930181 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748314 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748314 ms (missed cycles : 2).[0m ×2 + 6.50sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.81sINFOros2_control_node[2026-08-28 00:44:19.342] [info] Received new action goal ×2 + 6.81sINFOros2_control_node[2026-08-28 00:44:19.342] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521794 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521794 ms (missed cycles : 4).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780829 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780829 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783334 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783334 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795659 ms (missed cycles : 6). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795659 ms (missed cycles : 6).[0m ×2 + 10.87sWARNros2_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 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814795 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814795 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2).[0m ×2 + 15.38sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787877867.91246843 seconds ×3 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 16.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.13sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 16.73sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 16.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.85sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 16.85sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 16.95sWARNros2_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 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353658 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353658 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009700 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009700 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_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 + 1.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.50sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.50sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.50sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990469 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990469 ms (missed cycles : 5).[0m ×2 + 2.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.38sINFOros2_control_node[2026-08-28 00:45:13.763] [info] Received new action goal ×2 + 2.38sINFOros2_control_node[2026-08-28 00:45:13.763] [info] Accepted new action goal ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444425 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444425 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787877914.93951988 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767980 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767980 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787877915.97166991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971611 ms (missed cycles : 8). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971611 ms (missed cycles : 8).[0m ×2 + 5.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.84sINFOros2_control_node[2026-08-28 00:45:17.230] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-08-28 00:45:17.230] [info] Accepted new action goal ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430869 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430869 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224690 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224690 ms (missed cycles : 2).[0m ×2 + 7.65sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394875 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394875 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809789 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809789 ms (missed cycles : 2).[0m ×2 + 9.54sINFOobjective_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 + 9.54sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.54sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.54sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.54sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.978672 ms (missed cycles : 9). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.978672 ms (missed cycles : 9).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226867 ms (missed cycles : 5). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226867 ms (missed cycles : 5).[0m ×2 + 11.92sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.95sINFOros2_control_node[2026-08-28 00:45:23.336] [info] Received new action goal ×2 + 11.95sINFOros2_control_node[2026-08-28 00:45:23.336] [info] Accepted new action goal ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.402855 ms (missed cycles : 7). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.402855 ms (missed cycles : 7).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770511 ms (missed cycles : 6). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770511 ms (missed cycles : 6).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589457 ms (missed cycles : 6). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589457 ms (missed cycles : 6).[0m ×2 + 15.55sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787877926.94193935 seconds ×3 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906748 ms (missed cycles : 6). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906748 ms (missed cycles : 6).[0m ×2 + 16.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787877927.55183697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.32sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 16.32sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.34sINFOros2_control_node[2026-08-28 00:45:27.725] [info] Received new action goal ×2 + 16.34sINFOros2_control_node[2026-08-28 00:45:27.725] [info] Accepted new action goal ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135936 ms (missed cycles : 5). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135936 ms (missed cycles : 5).[0m ×2 + 17.61sINFOobjective_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 + 17.61sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709489 ms (missed cycles : 2). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709489 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 3.46sWARNros2_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 + 3.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 4.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859321 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859321 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 00:47:22.252] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-08-28 00:47:22.252] [info] Accepted new action goal ×2 + 8.00sINFOros2_control_node[2026-08-28 00:47:22.253] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618801 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618801 ms (missed cycles : 3).[0m ×2 + 9.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242849 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242849 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275772 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275772 ms (missed cycles : 2).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2).[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5).[0m ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5).[0m ×2 + 15.00sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Got request to cancel active goal. ×2 + 15.00sINFOros2_control_node[2026-08-28 00:47:29.258] [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: 1787878049.26363349 seconds ×3 + 15.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 15.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878049.86704826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4).[0m ×2 + 16.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878050.56717587 seconds ×3 + 16.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787878051.16647863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.91sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787878051.16847301 seconds ×3 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2).[0m ×2 + 17.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787878051.89515066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787878051.89570284 seconds ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527197 ms (missed cycles : 2).[0m ×2 + 0.09sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.36sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787877841.95742202 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790562 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790562 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213963 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213963 ms (missed cycles : 4).[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511851 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511851 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787877845.37509131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-08-28 00:44:05.576] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-28 00:44:05.576] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579288 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579288 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842382 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842382 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718338 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718338 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123726 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123726 ms (missed cycles : 3).[0m ×2 + 7.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 1 iterations (0.0027252 s). ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629678 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629678 ms (missed cycles : 2).[0m ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 1 iterations (0.00419755 s). ×2 + 8.73sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.07sWARNros2_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 + 9.21sINFOros2_control_node[2026-08-28 00:44:10.782] [info] Received new action goal ×2 + 9.21sINFOros2_control_node[2026-08-28 00:44:10.782] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769600 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769600 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679310 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679310 ms (missed cycles : 2).[0m ×2 + 11.90sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 11.90sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.91sINFOobjective_server_nodeFound path in 0 iterations (2.01e-07 s). ×2 + 11.91sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.92sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 12.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.02sINFOobjective_server_nodeFound path in 1 iterations (0.0035989 s). ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789551 ms (missed cycles : 6). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789551 ms (missed cycles : 6).[0m ×2 + 12.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.26sINFOros2_control_node[2026-08-28 00:44:13.831] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-08-28 00:44:13.831] [info] Accepted new action goal ×2 + 12.69sINFOros2_control_node[2026-08-28 00:44:14.263] [info] Received new action goal ×2 + 12.69sINFOros2_control_node[2026-08-28 00:44:14.263] [info] Accepted new action goal ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499824 ms (missed cycles : 6). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499824 ms (missed cycles : 6).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514310 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514310 ms (missed cycles : 4).[0m ×2 + 14.28sINFOobjective_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 + 14.28sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.28sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.29sERRORobjective_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: 1787877855.85944057 seconds ×3 + 15.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787877856.70022607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026962 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026962 ms (missed cycles : 2).[0m ×2 + 15.25sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 15.26sINFOros2_control_node[2026-08-28 00:44:16.834] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-08-28 00:44:16.834] [info] Accepted new action goal ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930181 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930181 ms (missed cycles : 2).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748314 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748314 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 334 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 0.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_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 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459674 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459674 ms (missed cycles : 2).[0m ×2 + 6.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.91sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.99sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 7.00sINFOros2_control_node[2026-08-28 00:43:19.115] [info] Received new action goal ×2 + 7.00sINFOros2_control_node[2026-08-28 00:43:19.115] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657941 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657941 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376023 ms (missed cycles : 6). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376023 ms (missed cycles : 6).[0m ×2 + 8.50sWARNros2_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 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730875 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730875 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650179 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650179 ms (missed cycles : 3).[0m ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 10.71sINFOros2_control_node[2026-08-28 00:43:22.825] [info] Received new action goal ×2 + 10.71sINFOros2_control_node[2026-08-28 00:43:22.825] [info] Accepted new action goal ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 14.02sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 14.03sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.04sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 14.04sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 14.52sWARNros2_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 + 14.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 14.74sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 14.76sERRORobjective_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: 1787877806.87812591 seconds ×3 + 14.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 15.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 16.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.33sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 16.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.36sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 16.36sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484396 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484396 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394701 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394701 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225237 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225237 ms (missed cycles : 2).[0m ×2 + 3.11sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350900 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350900 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787878025.81231093 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787878026.42863774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-08-28 00:47:06.563] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-28 00:47:06.563] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534919 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534919 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491522 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491522 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801742 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801742 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175100 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175100 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348085 ms (missed cycles : 6). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348085 ms (missed cycles : 6).[0m ×2 + 9.34sWARNros2_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 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527238 ms (missed cycles : 5). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527238 ms (missed cycles : 5).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 14.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sERRORobjective_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: 1787878036.75891209 seconds ×3 + 15.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 15.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 15.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOobjective_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 + 15.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 16.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.58sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 16.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.59sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 16.59sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 16.69sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 105 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635747 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635747 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947205 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947205 ms (missed cycles : 3).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280755 ms (missed cycles : 4). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280755 ms (missed cycles : 4).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215608 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215608 ms (missed cycles : 2).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342181 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342181 ms (missed cycles : 2).[0m ×2 + 12.20sWARNros2_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 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907364 ms (missed cycles : 3). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907364 ms (missed cycles : 3).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528059 ms (missed cycles : 4). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528059 ms (missed cycles : 4).[0m ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690854 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690854 ms (missed cycles : 2).[0m ×2 + 14.84sERRORobjective_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: 1787878015.25651836 seconds ×3 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743817 ms (missed cycles : 5). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743817 ms (missed cycles : 5).[0m ×2 + 15.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787878015.88427758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 15.77sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.79sINFOros2_control_node[2026-08-28 00:46:56.209] [info] Received new action goal ×2 + 15.79sINFOros2_control_node[2026-08-28 00:46:56.209] [info] Accepted new action goal ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922875 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922875 ms (missed cycles : 2).[0m ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383024 ms (missed cycles : 4). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383024 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512477 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512477 ms (missed cycles : 2).[0m ×2 + 6.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 6.96sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 7.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.35sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.46sINFOobjective_server_nodeFound path in 1 iterations (0.00271707 s). ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105945 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105945 ms (missed cycles : 2).[0m ×2 + 7.52sWARNros2_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 + 7.62sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.65sINFOobjective_server_nodeFound path in 1 iterations (0.0045607 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.26sINFOros2_control_node[2026-08-28 00:43:59.232] [info] Received new action goal ×2 + 8.26sINFOros2_control_node[2026-08-28 00:43:59.232] [info] Accepted new action goal ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945800 ms (missed cycles : 5). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945800 ms (missed cycles : 5).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993233 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993233 ms (missed cycles : 3).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527197 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527197 ms (missed cycles : 2).[0m ×2 + 10.68sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.96sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.96sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.96sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787877841.95742202 seconds ×3 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790562 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790562 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213963 ms (missed cycles : 4). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213963 ms (missed cycles : 4).[0m ×2 + 13.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511851 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511851 ms (missed cycles : 2).[0m ×2 + 14.40sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787877845.37509131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.60sINFOros2_control_node[2026-08-28 00:44:05.576] [info] Received new action goal ×2 + 14.60sINFOros2_control_node[2026-08-28 00:44:05.576] [info] Accepted new action goal ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579288 ms (missed cycles : 3). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579288 ms (missed cycles : 3).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842382 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842382 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 57 warnings · 2564 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×400 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×400 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×800 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×800 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877993.48839974 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.12sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787877994.12946224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.72sINFOobjective_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 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069187 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069187 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262203 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262203 ms (missed cycles : 2).[0m ×2 + 8.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.94sINFOobjective_server_nodeFound path in 1 iterations (0.00486216 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.26sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.28sINFOros2_control_node[2026-08-28 00:46:38.786] [info] Received new action goal ×2 + 9.28sINFOros2_control_node[2026-08-28 00:46:38.786] [info] Accepted new action goal ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625528 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625528 ms (missed cycles : 3).[0m ×2 + 10.91sWARNros2_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 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 11.75sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 13.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.67sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 13.67sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 14.74sINFOobjective_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 + 14.76sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 14.76sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 14.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 14.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.44sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.60sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 15.61sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.62sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 15.62sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 17.05sWARNros2_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 + 17.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.6s | 3 errors · 57 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 + 6.16sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.990357 ms (missed cycles : 8). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.990357 ms (missed cycles : 8).[0m ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 7.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.79sINFOros2_control_node[2026-08-28 00:43:47.200] [info] Received new action goal ×2 + 7.79sINFOros2_control_node[2026-08-28 00:43:47.200] [info] Accepted new action goal ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925532 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925532 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354136 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354136 ms (missed cycles : 4).[0m ×2 + 10.13sINFOros2_control_node[2026-08-28 00:43:49.537] [info] Received new action goal ×2 + 10.13sINFOros2_control_node[2026-08-28 00:43:49.537] [info] Accepted new action goal ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.160302 ms (missed cycles : 8). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.160302 ms (missed cycles : 8).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 12.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 12.48sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 12.48sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 12.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 14.34sINFOobjective_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 + 14.34sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 14.34sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 14.36sERRORobjective_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: 1787877833.76851368 seconds ×3 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 15.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.21sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 59 errors · 42 warnings · 315 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_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 + 1.28sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Got request to cancel active goal. ×2 + 1.28sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Canceling active goal... ×2 + 1.29sERRORobjective_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: 1787878049.26363349 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sWARNros2_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 + 1.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878049.86704826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878050.56717587 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787878051.16647863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.19sINFOobjective_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 + 3.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787878051.16847301 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787878051.89515066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787878051.89570284 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878052.49460340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878052.93472648 seconds ×3 + 5.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514622 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514622 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558005 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558005 ms (missed cycles : 2).[0m ×2 + 7.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942803 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942803 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.386911 ms (missed cycles : 6). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.386911 ms (missed cycles : 6).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051813 ms (missed cycles : 5). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051813 ms (missed cycles : 5).[0m ×2 + 10.76sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.81sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORweb_video_auth_proxy-23process has died [pid 7428, 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 + 10.82sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.83sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.84sERRORweb_bridge_auth_proxy-22process has died [pid 7427, 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 + 10.84sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919445 ms (missed cycles : 2). + 10.86sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.87sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.88sINFOvideo_server-21process has finished cleanly [pid 7418] ×2 + 10.89sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.90sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.91sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.92sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.93sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.95sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.96sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.97sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.99sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.01sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.01sINFOcontroller_managerShutdown request received.... + 11.01sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.01sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.01sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.01sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.01sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.01sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.01sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.01sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.01sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.01sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.01sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.01sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.01sINFOcontroller_managerShutting down the controller manager. + 11.01sINFOvideo_server2026/08/28 00:47:38 INF shutting down gracefully ×2 + 11.01sINFOvideo_server2026/08/28 00:47:38 INF [WebRTC] closing ×2 + 11.01sINFOvideo_server2026/08/28 00:47:38 INF [RTSP] closing ×2 + 11.01sINFOvideo_server2026/08/28 00:47:38 INF waiting for running hooks ×2 + 11.01sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919445 ms (missed cycles : 2).[0m ×2 + 11.01sERRORmove_group-9process has died [pid 7352, 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_vhxiywul --params-file /tmp/launch_params_gwl70382 --params-file /tmp/launch_params_0c3flwwi --params-file /tmp/launch_params_2vfs0bdj --params-file /tmp/launch_params_bhlinbwg --params-file /tmp/launch_params_l7x2d10o']. ×2 + 11.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.02sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.02sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.02sERRORmove_groupStack trace (most recent call last) in thread 7767: ×2 + 11.02sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.02sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff346d04a63, in __clone ×2 + 11.02sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff346c77aa3, in ×2 + 11.02sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff346f09db3, in ×2 + 11.02sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.1.0", at 0x7ff34767aa47, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.02sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff34729b620, in rclcpp::Rate::sleep() ×2 + 11.02sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff3471ddd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.02sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff34719f087, in ×2 + 11.02sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff346ed8390, in __cxa_throw ×2 + 11.02sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff346ec2a54, in std::terminate() ×2 + 11.02sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff346ed80d9, in ×2 + 11.02sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff346ec2ff4, in ×2 + 11.02sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff346c038fe, in abort ×2 + 11.02sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff346c2027d, in raise ×2 + 11.02sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff346c79b2c, in pthread_kill ×2 + 11.02sERRORmove_groupAborted (Signal sent by tkill() 7352 0) ×2 + 11.02sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.02sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.02sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.02sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.02sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.02sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.03sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.89sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7402] ×2 + 11.90sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.98sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7356] ×2 + 11.99sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7355] ×2 + 12.00sINFOui_teleop_bridge-18process has finished cleanly [pid 7361] ×2 + 12.00sINFOcomponent_container_mt-16process has finished cleanly [pid 7359] ×2 + 12.01sINFOexecute_objective_bridge-17process has finished cleanly [pid 7360] ×2 + 12.04sINFOwaypoint_manager_node-11process has finished cleanly [pid 7354] ×2 + 12.05sINFOparameter_manager_node-10process has finished cleanly [pid 7353] ×2 + 12.10sINFOobjective_server_node[0;m[2026-08-28 00:47:40.073] [moveit_pro_license] [info] ×2 + 12.10sINFOobjective_server_node************************************************* ×4 + 12.10sINFOobjective_server_node* MoveIt Pro License ×2 + 12.10sINFOobjective_server_node* Application has successfully terminated ×2 + 12.12sINFOcomponent_container_mt-15process has finished cleanly [pid 7358] ×2 + 12.22sINFOobjective_server_node_main-14process has finished cleanly [pid 7357] ×2 + 12.23sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.07sINFOweb_bridge-19process has finished cleanly [pid 7362] ×2 + 13.07sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.44sINFOros2_control_node-1process has finished cleanly [pid 7315] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342181 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342181 ms (missed cycles : 2).[0m ×2 + 1.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907364 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907364 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528059 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528059 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690854 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690854 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 + 3.65sERRORobjective_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: 1787878015.25651836 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743817 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743817 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787878015.88427758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.61sINFOros2_control_node[2026-08-28 00:46:56.209] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-28 00:46:56.209] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922875 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922875 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383024 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383024 ms (missed cycles : 4).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939737 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939737 ms (missed cycles : 2).[0m ×2 + 7.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.736769 ms (missed cycles : 5). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.736769 ms (missed cycles : 5).[0m ×2 + 8.62sINFOros2_control_node[2026-08-28 00:47:00.227] [info] Received new action goal ×2 + 8.62sINFOros2_control_node[2026-08-28 00:47:00.227] [info] Accepted new action goal ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431655 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431655 ms (missed cycles : 4).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484396 ms (missed cycles : 6). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484396 ms (missed cycles : 6).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394701 ms (missed cycles : 4). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394701 ms (missed cycles : 4).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225237 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225237 ms (missed cycles : 2).[0m ×2 + 13.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350900 ms (missed cycles : 5). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350900 ms (missed cycles : 5).[0m ×2 + 14.21sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787878025.81231093 seconds ×3 + 14.82sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787878026.42863774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 14.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.96sINFOros2_control_node[2026-08-28 00:47:06.563] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-08-28 00:47:06.563] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534919 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534919 ms (missed cycles : 3).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491522 ms (missed cycles : 4). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491522 ms (missed cycles : 4).[0m ×2 + 16.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801742 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801742 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 32 warnings · 148 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787877867.91246843 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 4.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 6.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 7.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.89sINFOobjective_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 + 7.90sINFOobjective_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 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.21sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 565 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.03sINFOobjective_server_node[2026-08-28 00:43:08.123] [moveit_pro_license] [info] ×2 + 0.03sINFOobjective_server_node************************************************* ×4 + 0.03sINFOobjective_server_node* MoveIt Pro License ×2 + 0.03sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.14sINFOobjective_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 + 0.14sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.16sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.27sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.27sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.91sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.91sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.91sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.91sWARNros2_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 + 0.91sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.91sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.91sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.91sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.91sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.91sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.91sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.91sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.91sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.91sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.91sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.91sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.06sINFOcomponent_container_mt[2026-08-28 00:43:09.156] [moveit_pro_license] [info] ×2 + 1.06sINFOcomponent_container_mt************************************************* ×4 + 1.06sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.06sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668821 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668821 ms (missed cycles : 2).[0m ×2 + 1.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.43sINFOros2_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 + 1.43sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.43sWARNros2_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 + 1.43sINFOros2-5process has finished cleanly [pid 7319] ×2 + 1.44sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.44sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.44sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.44sINFOforce_torque_sensor_broadcasterconfigure successful + 1.44sINFOros2_control_nodeconfigure successful[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.45sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.45sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.45sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.75sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.75sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.78sINFOros2-2process has finished cleanly [pid 7316] ×2 + 1.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.98sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 1.99sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 2.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.33sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.33sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.33sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.37sINFOros2-7process has finished cleanly [pid 7321] ×2 + 2.42sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 2.42sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.47sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.47sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.49sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.49sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 2.50sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.78sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.78sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.78sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.78sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 2.78sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 2.79sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.82sINFOros2-6process has finished cleanly [pid 7320] ×2 + 2.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.98sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.15sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.15sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.15sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.15sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 3.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 3.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 3.20sINFOros2-3process has finished cleanly [pid 7317] ×2 + 3.21sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.21sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.21sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.21sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.21sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.21sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.22sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.22sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.57sINFOros2-4process has finished cleanly [pid 7318] ×2 + 3.61sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 3.61sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 3.66sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.66sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.66sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.66sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 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 + 4.02sINFOros2-8process has finished cleanly [pid 7322] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 5.08sWARNros2_control_nodeCamera render tick took 1.98 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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 6.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 6.36sWARNros2_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 + 6.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Got request to cancel active goal. ×2 + 3.41sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Canceling active goal... ×2 + 3.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878049.26363349 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.66sWARNros2_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 + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878049.86704826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878050.56717587 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787878051.16647863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.32sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787878051.16847301 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787878051.89515066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787878051.89570284 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878052.49460340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878052.93472648 seconds ×3 + 7.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.41sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787877806.87812591 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814795 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814795 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787877867.91246843 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.22sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 7.23sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ 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 7.340877 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_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 + 1.28sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Got request to cancel active goal. ×2 + 1.28sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Canceling active goal... ×2 + 1.29sERRORobjective_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: 1787878049.26363349 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sWARNros2_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 + 1.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878049.86704826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878050.56717587 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787878051.16647863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.19sINFOobjective_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 + 3.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787878051.16847301 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787878051.89515066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787878051.89570284 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878052.49460340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878052.93472648 seconds ×3 + 5.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514622 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514622 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558005 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558005 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-28 00:43:39.062] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-28 00:43:39.062] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 0.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[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 00:43:40.972] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.79sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_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 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4).[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 7.007427 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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 + 3.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 4.46sWARNros2_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 + 4.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 32 warnings · 450 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.15sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.15sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.15sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 7319] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.16sINFOforce_torque_sensor_broadcasterconfigure successful + 0.16sINFOros2_control_nodeconfigure successful[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 7316] ×2 + 0.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.65sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.65sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 0.93sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7321] ×2 + 1.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 1.22sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.50sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.50sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.50sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.51sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.54sINFOros2-6process has finished cleanly [pid 7320] ×2 + 1.56sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 1.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2-3process has finished cleanly [pid 7317] ×2 + 1.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.94sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.29sINFOros2-4process has finished cleanly [pid 7318] ×2 + 2.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 2.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 2.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sINFOros2-8process has finished cleanly [pid 7322] ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 3.80sWARNros2_control_nodeCamera render tick took 1.98 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 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 5.08sWARNros2_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 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 7.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.10sINFOobjective_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 + 7.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.23sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×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 4.658992 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_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 + 2.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.57sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 3.46sWARNros2_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 + 3.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 4.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5).[0m ×2 + 2.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Canceling active goal... ×2 + 2.32sERRORobjective_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: 1787878049.26363349 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.56sWARNros2_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 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878049.86704826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878050.56717587 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787878051.16647863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.22sINFOobjective_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 + 4.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787878051.16847301 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787878051.89515066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787878051.89570284 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712292 ms (missed cycles : 2).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787878052.49460340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787878052.93472648 seconds ×3 + 6.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514622 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514622 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.41sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787877806.87812591 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.641343 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.40sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 2.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.41sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 2.41sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 2.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 3.12sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787877806.87812591 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.73sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 1.84sWARNros2_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 + 2.06sINFOobjective_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 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 2.08sERRORobjective_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: 1787877806.87812591 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 + 6.16sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 + 6.16sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 + 6.16sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679310 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679310 ms (missed cycles : 2).[0m ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.01e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.96sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 1.04sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.06sINFOobjective_server_nodeFound path in 1 iterations (0.0035989 s). ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789551 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789551 ms (missed cycles : 6).[0m ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOros2_control_node[2026-08-28 00:44:13.831] [info] Received new action goal ×2 + 1.30sINFOros2_control_node[2026-08-28 00:44:13.831] [info] Accepted new action goal ×2 + 1.73sINFOros2_control_node[2026-08-28 00:44:14.263] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-08-28 00:44:14.263] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499824 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.499824 ms (missed cycles : 6).[0m ×2 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514310 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514310 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_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 + 3.33sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.33sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.33sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.33sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sERRORobjective_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: 1787877855.85944057 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787877856.70022607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026962 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026962 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.31sINFOros2_control_node[2026-08-28 00:44:16.834] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-28 00:44:16.834] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930181 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930181 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748314 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748314 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 1.814795 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814795 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055817 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516652 ms (missed cycles : 4).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849591 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787877867.91246843 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.48sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.49sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.22sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226867 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226867 ms (missed cycles : 5).[0m ×2 + 0.05sINFOobjective_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 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.05sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.05sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.05sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.17sINFOros2_control_node[2026-08-28 00:45:23.336] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-08-28 00:45:23.336] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.402855 ms (missed cycles : 7). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.402855 ms (missed cycles : 7).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770511 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770511 ms (missed cycles : 6).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589457 ms (missed cycles : 6). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589457 ms (missed cycles : 6).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787877926.94193935 seconds ×3 + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906748 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.906748 ms (missed cycles : 6).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787877927.55183697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.56sINFOros2_control_node[2026-08-28 00:45:27.725] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-28 00:45:27.725] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135936 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135936 ms (missed cycles : 5).[0m ×2 + 5.82sINFOobjective_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 + 5.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709489 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709489 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 · 2469 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×400 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×400 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×800 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×800 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877993.48839974 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.12sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787877994.12946224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2469 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×400 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×400 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×800 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×800 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877993.48839974 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.12sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787877994.12946224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_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 2.342181 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342181 ms (missed cycles : 2).[0m ×2 + 1.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907364 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907364 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528059 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528059 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690854 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690854 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 + 3.65sERRORobjective_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: 1787878015.25651836 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743817 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743817 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787878015.88427758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.61sINFOros2_control_node[2026-08-28 00:46:56.209] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-28 00:46:56.209] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922875 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922875 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383024 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383024 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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 + 3.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 4.46sWARNros2_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 + 4.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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 + 3.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 4.46sWARNros2_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 + 4.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×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 4.658992 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_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 + 2.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.57sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 3.46sWARNros2_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 + 3.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 4.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 1.84sWARNros2_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 + 2.06sINFOobjective_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 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 2.08sERRORobjective_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: 1787877806.87812591 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 1.84sWARNros2_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 + 2.06sINFOobjective_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 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 2.08sERRORobjective_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: 1787877806.87812591 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697652 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743186 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-28 00:43:26.156] [info] Accepted new action goal ×2 + 1.84sWARNros2_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 + 2.06sINFOobjective_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 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-08-28 00:43:26.861] [info] Canceling active goal... ×2 + 2.08sERRORobjective_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: 1787877806.87812591 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686519 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787877807.51692915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787877807.62772250 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787877808.25775981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-28 00:43:28.476] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248577 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.888769 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 + 6.16sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096223 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369582 ms (missed cycles : 6).[0m ×2 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-28 00:43:40.972] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939382 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787877822.35912442 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625092 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787877822.98390985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787877823.06403756 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.451960 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787877823.72567940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-28 00:43:43.850] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986003 ms (missed cycles : 2).[0m ×2 + 6.16sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150482 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788537 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:51.887] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855328 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235258 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-28 00:43:53.755] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1787877833.76851368 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309394 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787877834.41538668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.619] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-08-28 00:43:54.620] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.748923 ms (missed cycles : 6).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425973 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006197 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787877868.58636808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787877868.65650511 seconds ×3 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787877869.25659013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:44:29.380] [info] Accepted new action goal ×2 + 0.94sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276408 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.381430 ms (missed cycles : 9).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787877871.38677669 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388660 ms (missed cycles : 4).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630947 ms (missed cycles : 4).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787877873.05916142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-28 00:44:33.467] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068867 ms (missed cycles : 5).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235948 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2469 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×400 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×400 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×800 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×800 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877993.48839974 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.12sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787877994.12946224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2469 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×400 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×400 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×800 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×800 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877993.48839974 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.12sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787877994.12946224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2469 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×400 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×400 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×800 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×800 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104165 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408778 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757803 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039398 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787877993.48839974 seconds ×3 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.12sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148416 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787877994.12946224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_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 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-28 00:46:34.343] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774065 ms (missed cycles : 6).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986911 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 22 warnings · 63 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705444 ms (missed cycles : 2).[0m ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-08-28 00:46:41.259] [info] Accepted new action goal ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739544 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643252 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Received new action goal ×2 + 2.76sINFOros2_control_node[2026-08-28 00:46:43.183] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756552 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Got request to cancel active goal. ×2 + 3.85sINFOros2_control_node[2026-08-28 00:46:44.265] [info] Canceling active goal... ×2 + 3.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878004.27461433 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787878004.94592738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-28 00:46:45.130] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107548 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292381 ms (missed cycles : 4).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 8.484396 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484396 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394701 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394701 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225237 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225237 ms (missed cycles : 2).[0m ×2 + 3.11sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350900 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350900 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787878025.81231093 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787878026.42863774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-08-28 00:47:06.563] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-28 00:47:06.563] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534919 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534919 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491522 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491522 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801742 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801742 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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 + 3.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 4.46sWARNros2_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 + 4.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007427 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_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 + 3.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 4.46sWARNros2_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 + 4.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×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 4.658992 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_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 + 2.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.57sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 3.46sWARNros2_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 + 3.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 4.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2).[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 4.658992 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658992 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009195 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604796 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_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 + 2.50sERRORobjective_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: 1787878036.75891209 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 2.57sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787878037.41348076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324611 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787878037.48363781 seconds ×3 + 3.46sWARNros2_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 + 3.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787878038.08097911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787878038.10868335 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059073 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787878038.81858230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-28 00:47:18.942] [info] Accepted new action goal ×2 + 4.78sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001428 ms (missed cycles : 6).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055555 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Got request to cancel active goal. ×2 + 3.41sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Canceling active goal... ×2 + 3.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878049.26363349 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.66sWARNros2_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 + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878049.86704826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878050.56717587 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787878051.16647863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.32sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787878051.16847301 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787878051.89515066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787878051.89570284 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821746 ms (missed cycles : 6).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283298 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340877 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.127240 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Got request to cancel active goal. ×2 + 3.41sINFOros2_control_node[2026-08-28 00:47:29.258] [info] Canceling active goal... ×2 + 3.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787878049.26363349 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.66sWARNros2_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 + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787878049.86704826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318910 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787878050.56717587 seconds ×3 + 5.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787878051.16647863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.32sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787878051.16847301 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071389 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787878051.89515066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787878051.89570284 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.5s | 42 warnings · 623 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-28-00-43-02-746001-51ce7e00b45f-7267 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.81sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.82sINFOcontroller_managerupdate rate is 600 Hz + 1.82sINFOcontroller_managerOverruns handling is : enabled + 1.82sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.82sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816871 ms (missed cycles : 2). + 1.98sINFOros2_control_node-1process started with pid [7315] ×2 + 1.98sINFOmove_group-9process started with pid [7352] ×2 + 1.98sINFOparameter_manager_node-10process started with pid [7353] ×2 + 1.98sINFOwaypoint_manager_node-11process started with pid [7354] ×2 + 1.98sINFOmove_joint_resampler_node-12process started with pid [7355] ×2 + 1.98sINFOmove_end_effector_resampler_node-13process started with pid [7356] ×2 + 1.98sINFOobjective_server_node_main-14process started with pid [7357] ×2 + 1.98sINFOcomponent_container_mt-15process started with pid [7358] ×2 + 1.98sINFOcomponent_container_mt-16process started with pid [7359] ×2 + 1.98sINFOexecute_objective_bridge-17process started with pid [7360] ×2 + 1.98sINFOui_teleop_bridge-18process started with pid [7361] ×2 + 1.98sINFOweb_bridge-19process started with pid [7362] ×2 + 1.98sINFOtf2_web_republisher_node-20process started with pid [7402] ×2 + 1.98sINFOvideo_server-21process started with pid [7418] ×2 + 1.99sINFOweb_bridge_auth_proxy-22process started with pid [7427] ×2 + 1.99sINFOweb_video_auth_proxy-23process started with pid [7428] ×2 + 2.01sINFOros2-2process started with pid [7316] ×2 + 2.01sINFOros2-3process started with pid [7317] ×2 + 2.01sINFOros2-4process started with pid [7318] ×2 + 2.01sINFOros2-5process started with pid [7319] ×2 + 2.01sINFOros2-6process started with pid [7320] ×2 + 2.01sINFOros2-7process started with pid [7321] ×2 + 2.01sINFOros2-8process started with pid [7322] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.07sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.07sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.07sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.07sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.07sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.07sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816871 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF configuration loaded from /tmp/moveit-webrtc-2cuuelod/mediamtx.yml ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090044 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090044 ms (missed cycles : 2).[0m ×2 + 3.32sINFOmove_group[2026-08-28 00:43:06.756] [moveit_pro_license] [info] ×2 + 3.32sINFOmove_group************************************************* ×4 + 3.32sINFOmove_group* MoveIt Pro License ×2 + 3.32sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOwaypoint_manager_node[2026-08-28 00:43:06.811] [moveit_pro_license] [info] ×2 + 3.36sINFOwaypoint_manager_node************************************************* ×4 + 3.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.54sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.54sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.54sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.54sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.58sINFOros2_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 + 3.58sINFOros2_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 + 3.65sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.67sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.67sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.72sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.72sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.85sINFOmove_group ×4 + 3.85sINFOmove_group[92mYou can start planning now![0m ×2 + 4.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.67sINFOobjective_server_node[2026-08-28 00:43:08.123] [moveit_pro_license] [info] ×2 + 4.67sINFOobjective_server_node************************************************* ×4 + 4.67sINFOobjective_server_node* MoveIt Pro License ×2 + 4.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.79sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.79sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.80sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.80sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.92sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.92sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.55sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.56sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.56sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.56sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 5.56sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.56sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.56sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.56sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.56sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.56sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.56sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.56sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.56sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.56sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.56sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.56sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.56sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.56sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.56sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.56sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.56sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.56sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.56sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 5.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 5.71sINFOcomponent_container_mt[2026-08-28 00:43:09.156] [moveit_pro_license] [info] ×2 + 5.71sINFOcomponent_container_mt************************************************* ×4 + 5.71sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.71sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.71sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.72sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.72sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.72sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.73sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668821 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668821 ms (missed cycles : 2).[0m ×2 + 5.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 6.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 6.07sINFOros2_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 + 6.07sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.07sWARNros2_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 + 6.08sINFOros2-5process has finished cleanly [pid 7319] ×2 + 6.08sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.08sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.09sINFOforce_torque_sensor_broadcasterconfigure successful + 6.09sINFOros2_control_nodeconfigure successful[0m ×2 + 6.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.43sINFOros2-2process has finished cleanly [pid 7316] ×2 + 6.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 6.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 6.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.63sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 6.63sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 6.86sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.98sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.98sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.98sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.02sINFOros2-7process has finished cleanly [pid 7321] ×2 + 7.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 7.06sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 7.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.12sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.12sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.14sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.14sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 7.15sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.43sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.43sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.43sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.43sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.43sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 7.43sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 7.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.47sINFOros2-6process has finished cleanly [pid 7320] ×2 + 7.48sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.48sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.49sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.50sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 7.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 7.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 7.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 7.84sINFOros2-3process has finished cleanly [pid 7317] ×2 + 7.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.86sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.86sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.86sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.86sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.87sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.87sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.19sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.19sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.19sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.19sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.21sINFOros2-4process has finished cleanly [pid 7318] ×2 + 8.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 8.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 8.30sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.30sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.33sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 8.33sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.67sINFOros2-8process has finished cleanly [pid 7322] ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 9.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 9.73sWARNros2_control_nodeCamera render tick took 1.98 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 10.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 10.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 11.01sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 333 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_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7320] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 0.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2-3process has finished cleanly [pid 7317] ×2 + 0.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.43sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.43sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.44sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOros2-8process has finished cleanly [pid 7322] ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 2.30sWARNros2_control_nodeCamera render tick took 1.98 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 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 3.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.73sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 33 warnings · 404 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.05sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 0.05sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 0.27sWARNobjective_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 + 0.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.40sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.43sINFOros2-7process has finished cleanly [pid 7321] ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.48sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.88sINFOros2-6process has finished cleanly [pid 7320] ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 1.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 1.26sINFOros2-3process has finished cleanly [pid 7317] ×2 + 1.27sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.27sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.28sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.28sINFOros2_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 + 1.61sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.61sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.61sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.63sINFOros2-4process has finished cleanly [pid 7318] ×2 + 1.68sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.68sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.72sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.75sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sINFOros2-8process has finished cleanly [pid 7322] ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 3.15sWARNros2_control_nodeCamera render tick took 1.98 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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_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 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 28 warnings · 333 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_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7320] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 0.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 0.42sINFOros2-3process has finished cleanly [pid 7317] ×2 + 0.43sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.43sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.43sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.43sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.44sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.77sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOros2-8process has finished cleanly [pid 7322] ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 2.30sWARNros2_control_nodeCamera render tick took 1.98 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 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 3.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.73sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 29 warnings · 421 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.15sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.15sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.15sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 7319] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.16sINFOforce_torque_sensor_broadcasterconfigure successful + 0.16sINFOros2_control_nodeconfigure successful[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 7316] ×2 + 0.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.65sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.65sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 0.93sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7321] ×2 + 1.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 1.22sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.50sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.50sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.50sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.51sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.54sINFOros2-6process has finished cleanly [pid 7320] ×2 + 1.56sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 1.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2-3process has finished cleanly [pid 7317] ×2 + 1.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.94sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.29sINFOros2-4process has finished cleanly [pid 7318] ×2 + 2.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 2.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 2.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sINFOros2-8process has finished cleanly [pid 7322] ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 3.80sWARNros2_control_nodeCamera render tick took 1.98 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 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 5.08sWARNros2_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 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 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/2026-08-28-00-43-02-746001-51ce7e00b45f-7267 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.81sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.82sINFOcontroller_managerupdate rate is 600 Hz + 1.82sINFOcontroller_managerOverruns handling is : enabled + 1.82sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.82sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816871 ms (missed cycles : 2). + 1.98sINFOros2_control_node-1process started with pid [7315] ×2 + 1.98sINFOmove_group-9process started with pid [7352] ×2 + 1.98sINFOparameter_manager_node-10process started with pid [7353] ×2 + 1.98sINFOwaypoint_manager_node-11process started with pid [7354] ×2 + 1.98sINFOmove_joint_resampler_node-12process started with pid [7355] ×2 + 1.98sINFOmove_end_effector_resampler_node-13process started with pid [7356] ×2 + 1.98sINFOobjective_server_node_main-14process started with pid [7357] ×2 + 1.98sINFOcomponent_container_mt-15process started with pid [7358] ×2 + 1.98sINFOcomponent_container_mt-16process started with pid [7359] ×2 + 1.98sINFOexecute_objective_bridge-17process started with pid [7360] ×2 + 1.98sINFOui_teleop_bridge-18process started with pid [7361] ×2 + 1.98sINFOweb_bridge-19process started with pid [7362] ×2 + 1.98sINFOtf2_web_republisher_node-20process started with pid [7402] ×2 + 1.98sINFOvideo_server-21process started with pid [7418] ×2 + 1.99sINFOweb_bridge_auth_proxy-22process started with pid [7427] ×2 + 1.99sINFOweb_video_auth_proxy-23process started with pid [7428] ×2 + 2.01sINFOros2-2process started with pid [7316] ×2 + 2.01sINFOros2-3process started with pid [7317] ×2 + 2.01sINFOros2-4process started with pid [7318] ×2 + 2.01sINFOros2-5process started with pid [7319] ×2 + 2.01sINFOros2-6process started with pid [7320] ×2 + 2.01sINFOros2-7process started with pid [7321] ×2 + 2.01sINFOros2-8process started with pid [7322] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.07sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.07sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.07sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.07sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.07sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.07sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816871 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF configuration loaded from /tmp/moveit-webrtc-2cuuelod/mediamtx.yml ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.43sINFOvideo_server2026/08/28 00:43:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 29 warnings · 421 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.15sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.15sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.15sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 7319] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.16sINFOforce_torque_sensor_broadcasterconfigure successful + 0.16sINFOros2_control_nodeconfigure successful[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 7316] ×2 + 0.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.65sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.65sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 0.93sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7321] ×2 + 1.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 1.22sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.50sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.50sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.50sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.51sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.54sINFOros2-6process has finished cleanly [pid 7320] ×2 + 1.56sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 1.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2-3process has finished cleanly [pid 7317] ×2 + 1.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.94sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.29sINFOros2-4process has finished cleanly [pid 7318] ×2 + 2.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 2.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 2.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sINFOros2-8process has finished cleanly [pid 7322] ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 3.80sWARNros2_control_nodeCamera render tick took 1.98 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 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 5.08sWARNros2_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 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 29 warnings · 421 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.15sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.15sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.15sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 7319] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.16sINFOforce_torque_sensor_broadcasterconfigure successful + 0.16sINFOros2_control_nodeconfigure successful[0m ×2 + 0.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 7316] ×2 + 0.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.65sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.65sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 0.93sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.01sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 7321] ×2 + 1.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.19sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.21sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 1.22sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.50sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.50sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.50sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.51sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.54sINFOros2-6process has finished cleanly [pid 7320] ×2 + 1.56sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 1.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 1.92sINFOros2-3process has finished cleanly [pid 7317] ×2 + 1.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.94sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.29sINFOros2-4process has finished cleanly [pid 7318] ×2 + 2.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 2.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 2.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 2.40sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sINFOros2-8process has finished cleanly [pid 7322] ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 3.80sWARNros2_control_nodeCamera render tick took 1.98 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 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 5.08sWARNros2_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 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 30 warnings · 404 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.05sINFOros2_control_node[2026-08-28 00:43:10.080] [info] Controller state will be published at 10 Hz. ×2 + 0.05sINFOros2_control_node[2026-08-28 00:43:10.082] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979316 ms (missed cycles : 2).[0m ×2 + 0.27sWARNobjective_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 + 0.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.40sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.43sINFOros2-7process has finished cleanly [pid 7321] ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.48sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-08-28 00:43:10.566] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-08-28 00:43:10.589] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-08-28 00:43:10.589] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-28 00:43:10.594] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.88sINFOros2-6process has finished cleanly [pid 7320] ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787877791.24286366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787877791.25318933 seconds ×3 + 1.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798234 ms (missed cycles : 2).[0m ×2 + 1.26sINFOros2-3process has finished cleanly [pid 7317] ×2 + 1.27sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.27sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.28sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.28sINFOros2_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 + 1.61sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.61sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.61sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.63sINFOros2-4process has finished cleanly [pid 7318] ×2 + 1.68sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 1.68sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 1.72sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.75sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sINFOros2-8process has finished cleanly [pid 7322] ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 3.15sWARNros2_control_nodeCamera render tick took 1.98 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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_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 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.58sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[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 | 25 warnings · 250 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459674 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459674 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[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 | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 7318] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kpn1817q --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_esps0rku --params-file /tmp/launch_params_2v_gobv6 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.780] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-28 00:43:11.781] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787877791.85296249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7322] ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428297 ms (missed cycles : 6).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787877792.91311502 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561791 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787877793.52975321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787877793.58994412 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787877794.24795079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787877794.26808238 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974991 ms (missed cycles : 5).[0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787877794.98219991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787877795.13275981 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065755 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787877795.80043459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787877795.86056972 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898298 ms (missed cycles : 6).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787877796.47110081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_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 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3609e-05 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-28 00:43:16.608] [info] Accepted new action goal ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970583 ms (missed cycles : 3).[0m ×2 | ||||