121
Total objective tests
31
Objectives passed
0
Objectives failed
90
Objectives skipped
9.1s
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 | 161 warnings · 19530 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022283 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022283 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921604 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921604 ms (missed cycles : 5).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216332 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216332 ms (missed cycles : 5).[0m ×2 + 2.31sWARNros2_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 + 2.41sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788461711.21742725 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788461711.81623888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.18sINFOros2_control_node[2026-09-03 18:55:11.990] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-03 18:55:11.990] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242527 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242527 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063570 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063570 ms (missed cycles : 5).[0m ×2 + 4.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.51sINFOobjective_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 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791083 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791083 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767893 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767893 ms (missed cycles : 2).[0m ×2 + 6.57sINFOjoint_trajectory_controllerReceived new action goal ×3211 + 6.57sINFOjoint_trajectory_controllerAccepted new action goal ×3211 + 6.57sINFOros2_control_nodeReceived new action goal[0m ×6422 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×6422 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916678 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916678 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109850 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109850 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889234 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889234 ms (missed cycles : 2).[0m ×2 + 10.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801690 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801690 ms (missed cycles : 2).[0m ×2 + 11.52sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.52sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.52sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.52sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.52sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504781 ms (missed cycles : 5). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504781 ms (missed cycles : 5).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313275 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313275 ms (missed cycles : 2).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893825 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893825 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132980 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132980 ms (missed cycles : 2).[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213144 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213144 ms (missed cycles : 2).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875009 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875009 ms (missed cycles : 2).[0m ×2 + 17.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796529 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796529 ms (missed cycles : 2).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751511 ms (missed cycles : 3). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751511 ms (missed cycles : 3).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531447 ms (missed cycles : 2). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531447 ms (missed cycles : 2).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035192 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035192 ms (missed cycles : 2).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186639 ms (missed cycles : 4). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186639 ms (missed cycles : 4).[0m ×2 + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750975 ms (missed cycles : 2). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750975 ms (missed cycles : 2).[0m ×2 + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183799 ms (missed cycles : 5). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.183799 ms (missed cycles : 5).[0m ×2 + 24.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801325 ms (missed cycles : 2). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801325 ms (missed cycles : 2).[0m ×2 + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079367 ms (missed cycles : 2). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079367 ms (missed cycles : 2).[0m ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277516 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277516 ms (missed cycles : 2).[0m ×2 + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700580 ms (missed cycles : 2). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700580 ms (missed cycles : 2).[0m ×2 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488912 ms (missed cycles : 5). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488912 ms (missed cycles : 5).[0m ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688805 ms (missed cycles : 2). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688805 ms (missed cycles : 2).[0m ×2 + 31.41sWARNros2_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 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795002 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795002 ms (missed cycles : 2).[0m ×2 + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689990 ms (missed cycles : 2). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689990 ms (missed cycles : 2).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164992 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164992 ms (missed cycles : 2).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210595 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210595 ms (missed cycles : 2).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685574 ms (missed cycles : 2). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685574 ms (missed cycles : 2).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045057 ms (missed cycles : 2). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045057 ms (missed cycles : 2).[0m ×2 + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392162 ms (missed cycles : 2). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392162 ms (missed cycles : 2).[0m ×2 + 38.36sWARNros2_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 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845542 ms (missed cycles : 2). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845542 ms (missed cycles : 2).[0m ×2 + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758331 ms (missed cycles : 2). + 39.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758331 ms (missed cycles : 2).[0m ×2 + 40.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416492 ms (missed cycles : 2). + 40.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416492 ms (missed cycles : 2).[0m ×2 + 41.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676203 ms (missed cycles : 2). + 41.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676203 ms (missed cycles : 2).[0m ×2 + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623047 ms (missed cycles : 4). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623047 ms (missed cycles : 4).[0m ×2 + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870187 ms (missed cycles : 4). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870187 ms (missed cycles : 4).[0m ×2 + 44.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840300 ms (missed cycles : 4). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840300 ms (missed cycles : 4).[0m ×2 + 45.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503533 ms (missed cycles : 2). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503533 ms (missed cycles : 2).[0m ×2 + 46.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461755.63033581 seconds ×3 + 46.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294754 ms (missed cycles : 4). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294754 ms (missed cycles : 4).[0m ×2 + 47.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.36sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788461756.26047349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.50sINFOobjective_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 + 47.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.60sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 47.60sINFOros2_control_node[2026-09-03 18:55:56.414] [info] Received new action goal ×2 + 47.60sINFOros2_control_node[2026-09-03 18:55:56.414] [info] Accepted new action goal ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955013 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955013 ms (missed cycles : 2).[0m ×2 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755181 ms (missed cycles : 2). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755181 ms (missed cycles : 2).[0m ×2 + 49.45sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490308 ms (missed cycles : 2). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490308 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.7s | 151 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651625 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651625 ms (missed cycles : 2).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401141 ms (missed cycles : 6). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401141 ms (missed cycles : 6).[0m ×2 + 9.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686694 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686694 ms (missed cycles : 2).[0m ×2 + 10.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.02sINFOros2_control_node[2026-09-03 18:54:23.770] [info] Received new action goal ×2 + 10.02sINFOros2_control_node[2026-09-03 18:54:23.770] [info] Accepted new action goal ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284048 ms (missed cycles : 4). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284048 ms (missed cycles : 4).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.093299 ms (missed cycles : 6). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.093299 ms (missed cycles : 6).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675495 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675495 ms (missed cycles : 2).[0m ×2 + 12.99sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 12.99sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.03sINFOros2_control_node[2026-09-03 18:54:26.783] [info] Received new action goal ×2 + 13.03sINFOros2_control_node[2026-09-03 18:54:26.783] [info] Accepted new action goal ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472143 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472143 ms (missed cycles : 2).[0m ×2 + 14.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380912 ms (missed cycles : 3). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380912 ms (missed cycles : 3).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672497 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672497 ms (missed cycles : 3).[0m ×2 + 16.00sINFOobjective_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 + 16.00sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.00sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.00sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.00sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786251 ms (missed cycles : 5). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786251 ms (missed cycles : 5).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988350 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988350 ms (missed cycles : 2).[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656989 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656989 ms (missed cycles : 2).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809811 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809811 ms (missed cycles : 2).[0m ×2 + 20.33sWARNros2_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 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051501 ms (missed cycles : 3). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051501 ms (missed cycles : 3).[0m ×2 + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569313 ms (missed cycles : 2).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751812 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751812 ms (missed cycles : 2).[0m ×2 + 23.52sINFOobjective_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 + 23.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.52sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.52sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.52sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.52sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.40sINFOros2_control_node[2026-09-03 18:54:38.150] [info] Received new action goal ×2 + 24.40sINFOros2_control_node[2026-09-03 18:54:38.150] [info] Accepted new action goal ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910868 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910868 ms (missed cycles : 2).[0m ×2 + 25.58sINFOobjective_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 + 25.59sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.725040 ms (missed cycles : 6). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.725040 ms (missed cycles : 6).[0m ×2 + 25.87sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 25.92sINFOros2_control_node[2026-09-03 18:54:39.673] [info] Received new action goal ×2 + 25.92sINFOros2_control_node[2026-09-03 18:54:39.673] [info] Accepted new action goal ×2 + 26.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076553 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076553 ms (missed cycles : 2).[0m ×2 + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247037 ms (missed cycles : 3). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247037 ms (missed cycles : 3).[0m ×2 + 28.19sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 28.19sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.21sINFOros2_control_node[2026-09-03 18:54:41.961] [info] Received new action goal ×2 + 28.21sINFOros2_control_node[2026-09-03 18:54:41.961] [info] Accepted new action goal ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327258 ms (missed cycles : 3). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327258 ms (missed cycles : 3).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106464 ms (missed cycles : 2). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106464 ms (missed cycles : 2).[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889548 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889548 ms (missed cycles : 2).[0m ×2 + 31.26sINFOros2_control_node[2026-09-03 18:54:45.011] [info] Received new action goal ×2 + 31.26sINFOros2_control_node[2026-09-03 18:54:45.011] [info] Accepted new action goal ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734565 ms (missed cycles : 4). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734565 ms (missed cycles : 4).[0m ×2 + 32.97sWARNros2_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 ×4 + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617630 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617630 ms (missed cycles : 2).[0m ×2 + 33.85sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 33.86sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.90sINFOros2_control_node[2026-09-03 18:54:47.654] [info] Received new action goal ×2 + 33.90sINFOros2_control_node[2026-09-03 18:54:47.654] [info] Accepted new action goal ×2 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354510 ms (missed cycles : 3). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354510 ms (missed cycles : 3).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692549 ms (missed cycles : 3). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692549 ms (missed cycles : 3).[0m ×2 + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844784 ms (missed cycles : 3). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844784 ms (missed cycles : 3).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689801 ms (missed cycles : 2). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689801 ms (missed cycles : 2).[0m ×2 + 38.29sWARNros2_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 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028447 ms (missed cycles : 2). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028447 ms (missed cycles : 2).[0m ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787569 ms (missed cycles : 2). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787569 ms (missed cycles : 2).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402902 ms (missed cycles : 4). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402902 ms (missed cycles : 4).[0m ×2 + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634093 ms (missed cycles : 3). + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634093 ms (missed cycles : 3).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702066 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702066 ms (missed cycles : 2).[0m ×2 + 44.51sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420835 ms (missed cycles : 3). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420835 ms (missed cycles : 3).[0m ×2 + 44.58sINFOros2_control_node[2026-09-03 18:54:58.330] [info] Received new action goal ×2 + 44.58sINFOros2_control_node[2026-09-03 18:54:58.330] [info] Accepted new action goal ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774195 ms (missed cycles : 3). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774195 ms (missed cycles : 3).[0m ×2 + 45.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788461699.48655009 seconds ×3 + 46.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.33sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.53sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788461700.28725052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589439 ms (missed cycles : 2). + 46.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589439 ms (missed cycles : 2).[0m ×2 + 47.70sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 47.72sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.74sINFOros2_control_node[2026-09-03 18:55:01.492] [info] Received new action goal ×2 + 47.74sINFOros2_control_node[2026-09-03 18:55:01.492] [info] Accepted new action goal ×2 + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228823 ms (missed cycles : 5). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228823 ms (missed cycles : 5).[0m ×2 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645411 ms (missed cycles : 3). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645411 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13482 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2214 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2214 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4428 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4428 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870187 ms (missed cycles : 4). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870187 ms (missed cycles : 4).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840300 ms (missed cycles : 4). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.840300 ms (missed cycles : 4).[0m ×2 + 1.55sWARNros2_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 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503533 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503533 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461755.63033581 seconds ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294754 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294754 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788461756.26047349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.89sINFOros2_control_node[2026-09-03 18:55:56.414] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-03 18:55:56.414] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955013 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955013 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.20sINFOobjective_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 + 5.21sINFOobjective_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 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755181 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755181 ms (missed cycles : 2).[0m ×2 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490308 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490308 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867688 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867688 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927907 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927907 ms (missed cycles : 2).[0m ×2 + 9.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096689 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096689 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224510 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224510 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773872 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773872 ms (missed cycles : 2).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070473 ms (missed cycles : 4). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070473 ms (missed cycles : 4).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066529 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066529 ms (missed cycles : 2).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837761 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837761 ms (missed cycles : 2).[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716259 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716259 ms (missed cycles : 2).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864930 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864930 ms (missed cycles : 2).[0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026053 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026053 ms (missed cycles : 2).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810393 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810393 ms (missed cycles : 3).[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056153 ms (missed cycles : 2). + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056153 ms (missed cycles : 2).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851824 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851824 ms (missed cycles : 2).[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206480 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206480 ms (missed cycles : 4).[0m ×2 + 22.66sWARNros2_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 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2).[0m ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5).[0m ×2 + 25.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461777.74761844 seconds ×3 + 25.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788461778.45939040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 25.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.14sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 26.14sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.15sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Received new action goal ×2 + 26.15sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Accepted new action goal ×2 + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2).[0m ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 19.3s | 3 errors · 79 warnings · 283 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 1.82sERRORobjective_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: 1788461586.73033738 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.44sINFOobjective_server_nodecaller: ×8 + 2.44sINFOobjective_server_nodetype: 0 ×8 + 2.44sINFOobjective_server_nodename: "" ×8 + 2.44sINFOobjective_server_nodeinstance_id: "" ×8 + 2.44sINFOobjective_server_node ×8 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290172 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290172 ms (missed cycles : 4).[0m ×2 + 8.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798304 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798304 ms (missed cycles : 4).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641537 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641537 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225813 ms (missed cycles : 4). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225813 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943761 ms (missed cycles : 4). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943761 ms (missed cycles : 4).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741503 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741503 ms (missed cycles : 2).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050398 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050398 ms (missed cycles : 2).[0m ×2 + 14.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973529 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973529 ms (missed cycles : 5).[0m ×2 + 15.33sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 15.33sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 15.34sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 15.64sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 15.64sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.69sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 15.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 15.82sINFOobjective_server_nodeFound path in 1 iterations (0.00457223 s). ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825337 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825337 ms (missed cycles : 2).[0m ×2 + 16.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 16.08sINFOros2_control_node[2026-09-03 18:53:20.988] [info] Received new action goal ×2 + 16.08sINFOros2_control_node[2026-09-03 18:53:20.988] [info] Accepted new action goal ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993438 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993438 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055765 ms (missed cycles : 5). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.055765 ms (missed cycles : 5).[0m ×2 + 18.55sINFOros2_control_node[2026-09-03 18:53:23.461] [info] Received new action goal ×2 + 18.55sINFOros2_control_node[2026-09-03 18:53:23.461] [info] Accepted new action goal ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791645 ms (missed cycles : 4). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791645 ms (missed cycles : 4).[0m ×2 + 20.00sWARNros2_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 + 20.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 20.48sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 20.48sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 21.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 22.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.45sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 22.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 23.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.18sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 23.23sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.34sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 23.35sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 23.36sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 23.36sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 25.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 59 warnings · 241 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00319403 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOros2_control_node[2026-09-03 18:53:57.675] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-03 18:53:57.675] [info] Accepted new action goal ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295435 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295435 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-09-03 18:53:58.107] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-03 18:53:58.107] [info] Accepted new action goal ×2 + 0.97sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520741 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520741 ms (missed cycles : 4).[0m ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.92sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788461640.25585485 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358045 ms (missed cycles : 6). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358045 ms (missed cycles : 6).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.64sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.64sINFOobjective_server_nodecaller: ×6 + 3.64sINFOobjective_server_nodetype: 0 ×6 + 3.64sINFOobjective_server_nodename: "" ×6 + 3.64sINFOobjective_server_nodeinstance_id: "" ×6 + 3.64sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788461641.03448915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 3.93sINFOros2_control_node[2026-09-03 18:54:01.218] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-03 18:54:01.218] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633421 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633421 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201087 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201087 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585512 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585512 ms (missed cycles : 4).[0m ×2 + 6.46sINFOros2_control_node[2026-09-03 18:54:03.749] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-03 18:54:03.749] [info] Accepted new action goal ×2 + 6.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543718 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543718 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936851 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936851 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981357 ms (missed cycles : 5). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981357 ms (missed cycles : 5).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315900 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315900 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211038 ms (missed cycles : 5). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211038 ms (missed cycles : 5).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2).[0m ×2 + 12.75sWARNros2_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 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788461652.31287289 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5).[0m ×2 + 15.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788461652.97756457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.76sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788461653.04774189 seconds ×3 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2).[0m ×2 + 16.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.31sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.36sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788461653.64572692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.47sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 16.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.47sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 16.47sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 18.48sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 18.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702066 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.48sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.48sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.48sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.12sWARNros2_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 + 1.29sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420835 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420835 ms (missed cycles : 3).[0m ×2 + 1.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.36sINFOros2_control_node[2026-09-03 18:54:58.330] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-09-03 18:54:58.330] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774195 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.774195 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788461699.48655009 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788461700.28725052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589439 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589439 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.53sINFOros2_control_node[2026-09-03 18:55:01.492] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-09-03 18:55:01.492] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228823 ms (missed cycles : 5). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228823 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645411 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645411 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.043903 ms (missed cycles : 8). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.043903 ms (missed cycles : 8).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998336 ms (missed cycles : 6). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.998336 ms (missed cycles : 6).[0m ×2 + 7.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 8.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.22sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.22sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.22sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.22sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129279 ms (missed cycles : 5). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129279 ms (missed cycles : 5).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082705 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082705 ms (missed cycles : 2).[0m ×2 + 10.62sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 10.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.65sINFOros2_control_node[2026-09-03 18:55:07.612] [info] Received new action goal ×2 + 10.65sINFOros2_control_node[2026-09-03 18:55:07.612] [info] Accepted new action goal ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881518 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881518 ms (missed cycles : 3).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022283 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022283 ms (missed cycles : 2).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921604 ms (missed cycles : 5). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921604 ms (missed cycles : 5).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216332 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216332 ms (missed cycles : 5).[0m ×2 + 14.16sWARNros2_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 + 14.25sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788461711.21742725 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788461711.81623888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 15.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.02sINFOros2_control_node[2026-09-03 18:55:11.990] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-03 18:55:11.990] [info] Accepted new action goal ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242527 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242527 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063570 ms (missed cycles : 5). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063570 ms (missed cycles : 5).[0m ×2 + 16.29sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.30sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791083 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791083 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 62 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965770 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965770 ms (missed cycles : 3).[0m ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430235 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430235 ms (missed cycles : 4).[0m ×2 + 1.19sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788461627.83653307 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656249 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656249 ms (missed cycles : 3).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_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 11.233496 ms (missed cycles : 7). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.233496 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.48sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788461629.81959677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-09-03 18:53:50.014] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-09-03 18:53:50.014] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635407 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635407 ms (missed cycles : 5).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102547 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102547 ms (missed cycles : 2).[0m ×2 + 5.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261439 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261439 ms (missed cycles : 4).[0m ×2 + 7.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.03sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.29sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.30sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.49sINFOobjective_server_nodeFound path in 1 iterations (0.00278393 s). ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690299 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690299 ms (missed cycles : 2).[0m ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 1 iterations (0.00428485 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.25sINFOros2_control_node[2026-09-03 18:53:54.598] [info] Received new action goal ×2 + 8.25sINFOros2_control_node[2026-09-03 18:53:54.598] [info] Accepted new action goal ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944290 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944290 ms (missed cycles : 3).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719431 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719431 ms (missed cycles : 3).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453424 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453424 ms (missed cycles : 3).[0m ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.08sINFOobjective_server_nodeFound path in 1 iterations (0.00319403 s). ×2 + 11.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.33sINFOros2_control_node[2026-09-03 18:53:57.675] [info] Received new action goal ×2 + 11.33sINFOros2_control_node[2026-09-03 18:53:57.675] [info] Accepted new action goal ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295435 ms (missed cycles : 5). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295435 ms (missed cycles : 5).[0m ×2 + 11.76sINFOros2_control_node[2026-09-03 18:53:58.107] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-09-03 18:53:58.107] [info] Accepted new action goal ×2 + 11.91sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520741 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520741 ms (missed cycles : 4).[0m ×2 + 13.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.87sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.87sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.91sERRORobjective_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: 1788461640.25585485 seconds ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358045 ms (missed cycles : 6). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358045 ms (missed cycles : 6).[0m ×2 + 14.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788461641.03448915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 14.87sINFOros2_control_node[2026-09-03 18:54:01.218] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-09-03 18:54:01.218] [info] Accepted new action goal ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633421 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633421 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201087 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201087 ms (missed cycles : 3).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585512 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585512 ms (missed cycles : 4).[0m ×2 + 17.41sINFOros2_control_node[2026-09-03 18:54:03.749] [info] Received new action goal ×2 + 17.41sINFOros2_control_node[2026-09-03 18:54:03.749] [info] Accepted new action goal ×2 + 17.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 57 warnings · 465 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.56sINFOobjective_server_nodecaller: ×14 + 0.56sINFOobjective_server_nodetype: 0 ×14 + 0.56sINFOobjective_server_nodename: "" ×14 + 0.56sINFOobjective_server_nodeinstance_id: "" ×14 + 0.56sINFOobjective_server_node ×14 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.54sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 5.37sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 5.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.06sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.07sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586378 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586378 ms (missed cycles : 3).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108355 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108355 ms (missed cycles : 2).[0m ×2 + 8.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811468 ms (missed cycles : 5). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811468 ms (missed cycles : 5).[0m ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 9.80sINFOros2_control_node[2026-09-03 18:53:02.686] [info] Received new action goal ×2 + 9.80sINFOros2_control_node[2026-09-03 18:53:02.686] [info] Accepted new action goal ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611196 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611196 ms (missed cycles : 3).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 13.12sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 13.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.14sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 13.14sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 13.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.83sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 13.83sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 13.85sERRORobjective_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: 1788461586.73033738 seconds ×3 + 13.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.08sWARNros2_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 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 15.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.41sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279515 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279515 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794932 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794932 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733935 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733935 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788461810.22585011 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.00sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.00sINFOobjective_server_nodecaller: ×8 + 3.00sINFOobjective_server_nodetype: 0 ×8 + 3.00sINFOobjective_server_nodename: "" ×8 + 3.00sINFOobjective_server_nodeinstance_id: "" ×8 + 3.00sINFOobjective_server_node ×8 + 3.07sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788461810.88692021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.19sINFOros2_control_node[2026-09-03 18:56:51.010] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-03 18:56:51.010] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206471 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206471 ms (missed cycles : 4).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129080 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129080 ms (missed cycles : 5).[0m ×2 + 5.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650145 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650145 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035055 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035055 ms (missed cycles : 4).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306413 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306413 ms (missed cycles : 2).[0m ×2 + 8.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678690 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678690 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405991 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405991 ms (missed cycles : 3).[0m ×2 + 10.44sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 13.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.39sERRORobjective_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: 1788461821.20720220 seconds ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 13.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.11sWARNros2_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 + 14.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 15.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.27sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.33sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 15.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.45sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 15.45sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 62 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475624 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475624 ms (missed cycles : 5).[0m ×2 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (6.84e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 1 iterations (0.0036755 s). ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329183 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329183 ms (missed cycles : 2).[0m ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.07sINFOobjective_server_nodeFound path in 1 iterations (0.00593458 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.26sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 9.53sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.65sINFOros2_control_node[2026-09-03 18:53:45.111] [info] Received new action goal ×2 + 9.65sINFOros2_control_node[2026-09-03 18:53:45.111] [info] Accepted new action goal ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782359 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782359 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965770 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965770 ms (missed cycles : 3).[0m ×2 + 11.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430235 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430235 ms (missed cycles : 4).[0m ×2 + 12.07sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.34sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.34sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.34sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788461627.83653307 seconds ×3 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656249 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656249 ms (missed cycles : 3).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.233496 ms (missed cycles : 7). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.233496 ms (missed cycles : 7).[0m ×2 + 14.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.27sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.36sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788461629.81959677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 14.55sINFOros2_control_node[2026-09-03 18:53:50.014] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-09-03 18:53:50.014] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635407 ms (missed cycles : 5). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.635407 ms (missed cycles : 5).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102547 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102547 ms (missed cycles : 2).[0m ×2 + 16.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261439 ms (missed cycles : 4). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261439 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 54 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 + 6.78sWARNros2_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 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047496 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047496 ms (missed cycles : 3).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538826 ms (missed cycles : 5). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538826 ms (missed cycles : 5).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247906 ms (missed cycles : 5). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247906 ms (missed cycles : 5).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983158 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983158 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555723 ms (missed cycles : 5). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555723 ms (missed cycles : 5).[0m ×2 + 11.78sWARNros2_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 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565674 ms (missed cycles : 3). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565674 ms (missed cycles : 3).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355082 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355082 ms (missed cycles : 3).[0m ×2 + 13.39sERRORobjective_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: 1788461799.70279765 seconds ×3 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.93sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 13.99sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788461800.29579067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844014 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844014 ms (missed cycles : 3).[0m ×2 + 14.29sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 14.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.31sINFOros2_control_node[2026-09-03 18:56:40.618] [info] Received new action goal ×2 + 14.31sINFOros2_control_node[2026-09-03 18:56:40.618] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429066 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429066 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299117 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299117 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 54 warnings · 2152 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×325 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×325 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×650 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×650 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461777.74761844 seconds ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788461778.45939040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5).[0m ×2 + 7.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401997 ms (missed cycles : 6). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.401997 ms (missed cycles : 6).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.989571 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.989571 ms (missed cycles : 5).[0m ×2 + 8.57sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.57sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.06sINFOobjective_server_nodeFound path in 1 iterations (0.0045922 s). ×2 + 9.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.33sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.35sINFOros2_control_node[2026-09-03 18:56:23.986] [info] Received new action goal ×2 + 9.35sINFOros2_control_node[2026-09-03 18:56:23.986] [info] Accepted new action goal ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883745 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883745 ms (missed cycles : 3).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884129 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884129 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 11.82sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 11.82sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 12.31sWARNros2_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 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 13.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.69sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 13.69sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 14.06sINFOobjective_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 + 14.07sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 14.07sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 14.09sERRORobjective_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: 1788461788.72469306 seconds ×3 + 14.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.74sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 14.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.93sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 16.84sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.8s | 61 errors · 39 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Canceling active goal... ×2 + 0.01sERRORobjective_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: 1788461833.29130983 seconds ×3 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461833.89092159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461834.37114954 seconds ×3 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788461834.96879530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.69sINFOobjective_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 + 1.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788461834.97104359 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788461835.56335402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788461835.56381273 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461836.29622149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5).[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461837.41637421 seconds ×3 + 4.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645064 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645064 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.954475 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.954475 ms (missed cycles : 5).[0m ×2 + 6.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408920 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408920 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.634731 ms (missed cycles : 7). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.634731 ms (missed cycles : 7).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978410 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978410 ms (missed cycles : 2).[0m ×2 + 9.67sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.68sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORweb_video_auth_proxy-23process has died [pid 7463, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.68sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.68sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORweb_bridge_auth_proxy-22process has died [pid 7462, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.69sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.70sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.70sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.70sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.71sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.71sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.71sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.72sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.72sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.73sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.73sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.74sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.74sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.75sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.75sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.75sINFOcontroller_managerShutdown request received.... + 9.75sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.75sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.75sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.75sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.75sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.75sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.75sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.75sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.75sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.75sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.75sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.75sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.75sINFOcontroller_managerShutting down the controller manager. + 9.76sINFOvideo_server2026/09/03 18:57:22 INF shutting down gracefully ×2 + 9.76sINFOvideo_server-21process has finished cleanly [pid 7461] ×2 + 9.76sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.76sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.76sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.77sINFOvideo_server2026/09/03 18:57:23 INF [WebRTC] closing ×2 + 9.77sINFOvideo_server2026/09/03 18:57:23 INF [RTSP] closing ×2 + 9.77sINFOvideo_server2026/09/03 18:57:23 INF waiting for running hooks ×2 + 9.77sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.77sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.77sERRORmove_groupStack trace (most recent call last) in thread 7810: ×2 + 9.77sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.77sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.77sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.77sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.77sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.77sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 9.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a36493a63, in __clone ×2 + 9.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a36406aa3, in ×2 + 9.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a36698db3, in ×2 + 9.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f3a36dfd9e7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3a36a2a620, in rclcpp::Rate::sleep() ×2 + 9.77sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3a3696cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3a3692e087, in ×2 + 9.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a36667390, in __cxa_throw ×2 + 9.77sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a36651a54, in std::terminate() ×2 + 9.77sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a366670d9, in ×2 + 9.77sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a36651ff4, in ×2 + 9.77sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a363928fe, in abort ×2 + 9.77sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a363af27d, in raise ×2 + 9.77sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a36408b2c, in pthread_kill ×2 + 9.77sERRORmove_groupAborted (Signal sent by tkill() 7374 0) ×2 + 9.77sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.77sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 9.77sERRORmove_group-9process has died [pid 7374, 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_8zy80gla --params-file /tmp/launch_params_lj2f4mmn --params-file /tmp/launch_params_0jy943qr --params-file /tmp/launch_params_z7vanaxv --params-file /tmp/launch_params_9_q099b1 --params-file /tmp/launch_params_22x2pvpq']. ×2 + 9.78sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.74sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7460] ×2 + 10.74sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.77sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7378] ×2 + 10.78sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7377] ×2 + 10.81sINFOui_teleop_bridge-18process has finished cleanly [pid 7383] ×2 + 10.82sINFOexecute_objective_bridge-17process has finished cleanly [pid 7382] ×2 + 10.82sINFOwaypoint_manager_node-11process has finished cleanly [pid 7376] ×2 + 10.82sINFOparameter_manager_node-10process has finished cleanly [pid 7375] ×2 + 10.83sINFOcomponent_container_mt-16process has finished cleanly [pid 7381] ×2 + 10.89sINFOobjective_server_node[0;m[2026-09-03 18:57:24.173] [moveit_pro_license] [critical] ×2 + 10.89sINFOobjective_server_node************************************************* ×4 + 10.89sINFOobjective_server_node* MoveIt Pro License ×2 + 10.89sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.05sINFOobjective_server_node_main-14process has finished cleanly [pid 7379] ×2 + 11.06sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.81sINFOweb_bridge-19process has finished cleanly [pid 7388] ×2 + 11.81sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 11.92sINFOcomponent_container_mt-15process has finished cleanly [pid 7380] ×2 + 12.20sINFOros2_control_node-1process has finished cleanly [pid 7333] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 6 errors · 62 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788461821.20720220 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.32sINFOobjective_server_nodecaller: ×14 + 2.32sINFOobjective_server_nodetype: 0 ×14 + 2.32sINFOobjective_server_nodename: "" ×14 + 2.32sINFOobjective_server_nodeinstance_id: "" ×14 + 2.32sINFOobjective_server_node ×14 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_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 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.67sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.12sINFOros2_control_node[2026-09-03 18:57:06.590] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-03 18:57:06.590] [info] Accepted new action goal ×2 + 7.12sINFOros2_control_node[2026-09-03 18:57:06.590] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652566 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652566 ms (missed cycles : 2).[0m ×2 + 7.47sWARNros2_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 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632323 ms (missed cycles : 4). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632323 ms (missed cycles : 4).[0m ×2 + 8.59sWARNros2_control_nodeCamera render tick took 1.12 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 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863350 ms (missed cycles : 6). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.863350 ms (missed cycles : 6).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3).[0m ×2 + 13.81sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Got request to cancel active goal. ×2 + 13.81sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Canceling active goal... ×2 + 13.82sERRORobjective_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: 1788461833.29130983 seconds ×3 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2).[0m ×2 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461833.89092159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5).[0m ×2 + 14.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461834.37114954 seconds ×3 + 15.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788461834.96879530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.50sINFOobjective_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 + 15.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788461834.97104359 seconds ×3 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4).[0m ×2 + 16.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.04sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788461835.56335402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.09sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788461835.56381273 seconds ×3 + 16.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461836.29622149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 56 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.04sWARNros2_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 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.50sINFOobjective_server_nodecaller: ×6 + 2.50sINFOobjective_server_nodetype: 0 ×6 + 2.50sINFOobjective_server_nodename: "" ×6 + 2.50sINFOobjective_server_nodeinstance_id: "" ×6 + 2.50sINFOobjective_server_node ×6 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.76sINFOros2_control_node[2026-09-03 18:53:31.617] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-09-03 18:53:31.617] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513598 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513598 ms (missed cycles : 3).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371611 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371611 ms (missed cycles : 2).[0m ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 9.09sINFOros2_control_node[2026-09-03 18:53:33.954] [info] Received new action goal ×2 + 9.09sINFOros2_control_node[2026-09-03 18:53:33.954] [info] Accepted new action goal ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603961 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603961 ms (missed cycles : 3).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 10.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 11.43sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 11.44sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 11.44sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 13.34sINFOobjective_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 + 13.34sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 13.34sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 13.35sERRORobjective_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: 1788461618.21548676 seconds ×3 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 14.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.19sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 14.19sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 16.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555723 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555723 ms (missed cycles : 5).[0m ×2 + 0.82sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565674 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565674 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355082 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355082 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_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 + 2.43sERRORobjective_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: 1788461799.70279765 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788461800.29579067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844014 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844014 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.35sINFOros2_control_node[2026-09-03 18:56:40.618] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-03 18:56:40.618] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429066 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429066 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299117 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299117 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101778 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101778 ms (missed cycles : 5).[0m ×2 + 6.63sWARNros2_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 + 7.37sINFOros2_control_node[2026-09-03 18:56:44.642] [info] Received new action goal ×2 + 7.37sINFOros2_control_node[2026-09-03 18:56:44.642] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263570 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263570 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549380 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549380 ms (missed cycles : 4).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451776 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451776 ms (missed cycles : 4).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279515 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279515 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794932 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794932 ms (missed cycles : 2).[0m ×2 + 12.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733935 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733935 ms (missed cycles : 3).[0m ×2 + 12.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788461810.22585011 seconds ×3 + 13.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.55sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.61sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788461810.88692021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.73sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 13.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.74sINFOros2_control_node[2026-09-03 18:56:51.010] [info] Received new action goal ×2 + 13.74sINFOros2_control_node[2026-09-03 18:56:51.010] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206471 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206471 ms (missed cycles : 4).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129080 ms (missed cycles : 5). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129080 ms (missed cycles : 5).[0m ×2 + 15.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650145 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650145 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788461652.31287289 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5).[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.91sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.91sINFOobjective_server_nodecaller: ×6 + 2.91sINFOobjective_server_nodetype: 0 ×6 + 2.91sINFOobjective_server_nodename: "" ×6 + 2.91sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788461652.97756457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788461653.04774189 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788461653.64572692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.75sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 7.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.32sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.39sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 7.47sINFOobjective_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 + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_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 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 7.70sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.57sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 10.57sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 32 warnings · 613 info |
+ 0.00sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586875 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586875 ms (missed cycles : 3).[0m ×2 + 0.00sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.09sINFOcomponent_container_mt[2026-09-03 18:52:48.399] [moveit_pro_license] [info] ×2 + 0.09sINFOcomponent_container_mt************************************************* ×4 + 0.09sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.09sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.32sINFOros2-3process has finished cleanly [pid 7335] ×2 + 0.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.33sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.33sINFOforce_torque_sensor_broadcasterconfigure successful + 0.33sINFOros2_control_nodeconfigure successful[0m ×2 + 0.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.34sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.34sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.34sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.46sINFOros2_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 + 0.46sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.46sWARNros2_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 + 0.73sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.73sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.73sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.75sINFOros2-2process has finished cleanly [pid 7334] ×2 + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.87sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.87sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.87sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_node[2026-09-03 18:52:49.207] [info] Controller state will be published at 10 Hz. ×2 + 0.90sINFOros2_control_node[2026-09-03 18:52:49.208] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680817 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680817 ms (missed cycles : 5).[0m ×2 + 1.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 1.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 1.23sINFOros2-7process has finished cleanly [pid 7350] ×2 + 1.24sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.24sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.25sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.25sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sWARNobjective_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 + 1.55sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 1.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 1.56sINFOros2-4process has finished cleanly [pid 7347] ×2 + 1.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.62sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.62sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.62sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.63sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.63sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.64sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.64sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.95sINFOros2-5process has finished cleanly [pid 7348] ×2 + 2.02sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 2.02sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 2.06sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.06sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.06sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.08sINFOros2_control_node[2026-09-03 18:52:50.387] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.08sINFOros2_control_node[2026-09-03 18:52:50.387] [info] Controller state will be published at 50 Hz. ×2 + 2.09sINFOros2_control_node[2026-09-03 18:52:50.392] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.40sINFOros2-6process has finished cleanly [pid 7349] ×2 + 2.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 2.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 2.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.51sINFOros2_control_node[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 2.51sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 2.84sINFOros2-8process has finished cleanly [pid 7351] ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.87sINFOobjective_server_nodecaller: ×14 + 2.87sINFOobjective_server_nodetype: 0 ×14 + 2.87sINFOobjective_server_nodename: "" ×14 + 2.87sINFOobjective_server_nodeinstance_id: "" ×14 + 2.87sINFOobjective_server_node ×14 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 4.20sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 6.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 6.67sWARNros2_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 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 7.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 7.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.91sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.99sINFOobjective_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 + 7.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.12sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_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 + 3.17sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1788461833.29130983 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.73sINFOobjective_server_nodecaller: ×8 + 3.73sINFOobjective_server_nodetype: 0 ×8 + 3.73sINFOobjective_server_nodename: "" ×8 + 3.73sINFOobjective_server_nodeinstance_id: "" ×8 + 3.73sINFOobjective_server_node ×8 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461833.89092159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461834.37114954 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788461834.96879530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_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 + 4.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788461834.97104359 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788461835.56335402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788461835.56381273 seconds ×3 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461836.29622149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2).[0m ×2 + 7.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461837.41637421 seconds ×3 + 7.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_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 + 2.82sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788461586.73033738 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 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.40sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791645 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791645 ms (missed cycles : 4).[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.62sWARNros2_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 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.10sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.08sINFOobjective_server_nodecaller: ×4 + 3.08sINFOobjective_server_nodetype: 0 ×4 + 3.08sINFOobjective_server_nodename: "" ×4 + 3.08sINFOobjective_server_nodeinstance_id: "" ×4 + 3.08sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.98sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 5.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788461652.31287289 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5).[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788461652.97756457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788461653.04774189 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788461653.64572692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.75sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Got request to cancel active goal. ×2 + 0.99sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Canceling active goal... ×2 + 1.00sERRORobjective_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: 1788461833.29130983 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2).[0m ×2 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.55sINFOobjective_server_nodecaller: ×8 + 1.55sINFOobjective_server_nodetype: 0 ×8 + 1.55sINFOobjective_server_nodename: "" ×8 + 1.55sINFOobjective_server_nodeinstance_id: "" ×8 + 1.55sINFOobjective_server_node ×8 + 1.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461833.89092159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461834.37114954 seconds ×3 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788461834.96879530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.68sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.68sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.68sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788461834.97104359 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788461835.56335402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788461835.56381273 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461836.29622149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461837.41637421 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645064 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645064 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.954475 ms (missed cycles : 5). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.954475 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_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: 1788461821.20720220 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sWARNros2_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 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 467 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7348] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-03 18:52:50.392] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7349] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2-8process has finished cleanly [pid 7351] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_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 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788461821.20720220 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_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 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.67sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_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 + 2.09sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Canceling active goal... ×2 + 2.09sERRORobjective_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: 1788461833.29130983 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2).[0m ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.64sINFOobjective_server_nodecaller: ×8 + 2.64sINFOobjective_server_nodetype: 0 ×8 + 2.64sINFOobjective_server_nodename: "" ×8 + 2.64sINFOobjective_server_nodeinstance_id: "" ×8 + 2.64sINFOobjective_server_node ×8 + 2.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461833.89092159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461834.37114954 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.77sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788461834.96879530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.77sINFOobjective_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 + 3.77sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.77sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788461834.97104359 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4).[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788461835.56335402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788461835.56381273 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461836.29622149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055600 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788461837.41637421 seconds ×3 + 6.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645064 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645064 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2038 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×325 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×325 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×650 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×650 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461777.74761844 seconds ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788461778.45939040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_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 + 2.82sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788461586.73033738 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 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.40sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642814 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.13sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_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 + 2.82sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 2.84sERRORobjective_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: 1788461586.73033738 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 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.40sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 1.82sERRORobjective_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: 1788461586.73033738 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 1.82sERRORobjective_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: 1788461586.73033738 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 1.82sERRORobjective_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: 1788461586.73033738 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672895 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.09sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-09-03 18:53:06.018] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674043 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Got request to cancel active goal. ×2 + 1.80sINFOros2_control_node[2026-09-03 18:53:06.709] [info] Canceling active goal... ×2 + 1.82sERRORobjective_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: 1788461586.73033738 seconds ×3 + 1.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.06sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.935387 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.49sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788461587.39482880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788461587.50494480 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788461588.09972000 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553791 ms (missed cycles : 6).[0m ×2 + 3.38sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-03 18:53:08.293] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759459 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.317670 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.04sWARNros2_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 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.04sWARNros2_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 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.04sWARNros2_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 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.04sWARNros2_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 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.04sWARNros2_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 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-03 18:53:25.383] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679656 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765801 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788461606.76987505 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.50sINFOobjective_server_nodecaller: ×4 + 2.50sINFOobjective_server_nodetype: 0 ×4 + 2.50sINFOobjective_server_nodename: "" ×4 + 2.50sINFOobjective_server_nodeinstance_id: "" ×4 + 2.50sINFOobjective_server_node ×4 + 2.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788461607.43557644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788461607.51570272 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564615 ms (missed cycles : 5).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788461608.13310814 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-03 18:53:28.267] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.170682 ms (missed cycles : 6).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211115 ms (missed cycles : 3).[0m ×2 + 5.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.420801 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632420 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-09-03 18:53:36.304] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457462 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910767 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-09-03 18:53:38.203] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1788461618.21548676 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305263 ms (missed cycles : 4).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788461618.84461236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-03 18:53:39.048] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454771 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774835 ms (missed cycles : 4).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722856 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00319403 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-09-03 18:53:57.675] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-03 18:53:57.675] [info] Accepted new action goal ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295435 ms (missed cycles : 5). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295435 ms (missed cycles : 5).[0m ×2 + 0.82sINFOros2_control_node[2026-09-03 18:53:58.107] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-03 18:53:58.107] [info] Accepted new action goal ×2 + 0.97sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520741 ms (missed cycles : 4). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520741 ms (missed cycles : 4).[0m ×2 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.92sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788461640.25585485 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358045 ms (missed cycles : 6). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358045 ms (missed cycles : 6).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788461641.03448915 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 3.93sINFOros2_control_node[2026-09-03 18:54:01.218] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-03 18:54:01.218] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633421 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633421 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201087 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201087 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585512 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.585512 ms (missed cycles : 4).[0m ×2 + 6.46sINFOros2_control_node[2026-09-03 18:54:03.749] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-03 18:54:03.749] [info] Accepted new action goal ×2 + 6.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190886 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679238 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788461652.31287289 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066299 ms (missed cycles : 5).[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788461652.97756457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788461653.04774189 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425465 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788461653.64572692 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.75sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Received new action goal ×2 + 0.01sINFOros2_control_node[2026-09-03 18:54:13.759] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340209 ms (missed cycles : 3).[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027900 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788461655.76586723 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132456 ms (missed cycles : 5).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788461657.39635754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3). + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751647 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-03 18:54:17.713] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948548 ms (missed cycles : 5).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113388 ms (missed cycles : 5).[0m ×2 + 6.82sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-03 18:54:20.581] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022283 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022283 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921604 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921604 ms (missed cycles : 5).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216332 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216332 ms (missed cycles : 5).[0m ×2 + 2.31sWARNros2_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 + 2.41sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788461711.21742725 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788461711.81623888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.18sINFOros2_control_node[2026-09-03 18:55:11.990] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-03 18:55:11.990] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242527 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242527 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063570 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063570 ms (missed cycles : 5).[0m ×2 + 4.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.51sINFOobjective_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 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791083 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791083 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2038 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×325 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×325 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×650 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×650 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461777.74761844 seconds ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788461778.45939040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2038 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×325 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×325 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×650 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×650 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461777.74761844 seconds ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788461778.45939040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2038 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×325 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×325 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×650 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×650 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461777.74761844 seconds ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788461778.45939040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2038 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×325 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×325 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×650 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×650 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853368 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761350 ms (missed cycles : 2).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.547765 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788461777.74761844 seconds ×3 + 3.11sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788461778.45939040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-03 18:56:18.674] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744751 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788175 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081655 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607804 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-09-03 18:56:26.459] [info] Accepted new action goal ×2 + 0.64sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920323 ms (missed cycles : 3).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-09-03 18:56:28.323] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864022 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_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 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Got request to cancel active goal. ×2 + 2.40sINFOros2_control_node[2026-09-03 18:56:28.709] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1788461788.72469306 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.99sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.99sINFOobjective_server_nodecaller: ×2 + 2.99sINFOobjective_server_nodetype: 0 ×2 + 2.99sINFOobjective_server_nodename: "" ×2 + 2.99sINFOobjective_server_nodeinstance_id: "" ×2 + 2.99sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788461789.38224435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-03 18:56:29.566] [info] Accepted new action goal ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356013 ms (missed cycles : 4).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628677 ms (missed cycles : 3).[0m ×2 + 5.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750234 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555723 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555723 ms (missed cycles : 5).[0m ×2 + 0.82sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565674 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565674 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355082 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355082 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_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 + 2.43sERRORobjective_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: 1788461799.70279765 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.02sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788461800.29579067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844014 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844014 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.35sINFOros2_control_node[2026-09-03 18:56:40.618] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-09-03 18:56:40.618] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429066 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429066 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299117 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299117 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279515 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279515 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794932 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794932 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_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 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733935 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733935 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788461810.22585011 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788461810.88692021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.19sINFOros2_control_node[2026-09-03 18:56:51.010] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-03 18:56:51.010] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206471 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206471 ms (missed cycles : 4).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129080 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129080 ms (missed cycles : 5).[0m ×2 + 5.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650145 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650145 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_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: 1788461821.20720220 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sWARNros2_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 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_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: 1788461821.20720220 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sWARNros2_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 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_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: 1788461821.20720220 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sWARNros2_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 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825916 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_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: 1788461821.20720220 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sWARNros2_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 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_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 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788461821.20720220 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_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 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.67sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788461821.20720220 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_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 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.67sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206238 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007693 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_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 + 1.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788461821.20720220 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452527 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.32sINFOobjective_server_nodecaller: ×6 + 2.32sINFOobjective_server_nodetype: 0 ×6 + 2.32sINFOobjective_server_nodename: "" ×6 + 2.32sINFOobjective_server_nodeinstance_id: "" ×6 + 2.32sINFOobjective_server_node ×6 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788461821.84446502 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788461821.93458629 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788461822.52102184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_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 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788461822.54321671 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015179 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.67sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788461823.14640117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-03 18:57:03.270] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419072 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585927 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647342 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_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 + 3.17sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1788461833.29130983 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.73sINFOobjective_server_nodecaller: ×8 + 3.73sINFOobjective_server_nodetype: 0 ×8 + 3.73sINFOobjective_server_nodename: "" ×8 + 3.73sINFOobjective_server_nodeinstance_id: "" ×8 + 3.73sINFOobjective_server_node ×8 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461833.89092159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461834.37114954 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788461834.96879530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_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 + 4.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788461834.97104359 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788461835.56335402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788461835.56381273 seconds ×3 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461836.29622149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364075 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288850 ms (missed cycles : 6).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764259 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_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 + 3.17sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-09-03 18:57:13.286] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1788461833.29130983 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794857 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.73sINFOobjective_server_nodecaller: ×8 + 3.73sINFOobjective_server_nodetype: 0 ×8 + 3.73sINFOobjective_server_nodename: "" ×8 + 3.73sINFOobjective_server_nodeinstance_id: "" ×8 + 3.73sINFOobjective_server_node ×8 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788461833.89092159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.740209 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788461834.37114954 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788461834.96879530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.85sINFOobjective_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 + 4.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788461834.97104359 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184939 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788461835.56335402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788461835.56381273 seconds ×3 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788461836.29622149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133774 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.3s | 42 warnings · 749 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/2026-09-03-18-52-43-947377-394539589c5c-7285 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763650 ms (missed cycles : 5). + 0.84sINFOros2_control_node-1process started with pid [7333] ×2 + 0.84sINFOmove_group-9process started with pid [7374] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7375] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7376] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7377] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7378] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7379] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7380] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7381] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7382] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7383] ×2 + 0.84sINFOweb_bridge-19process started with pid [7388] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7460] ×2 + 0.84sINFOvideo_server-21process started with pid [7461] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7462] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7463] ×2 + 0.84sINFOros2-2process started with pid [7334] ×2 + 0.84sINFOros2-3process started with pid [7335] ×2 + 0.84sINFOros2-4process started with pid [7347] ×2 + 0.84sINFOros2-5process started with pid [7348] ×2 + 0.84sINFOros2-6process started with pid [7349] ×2 + 0.84sINFOros2-7process started with pid [7350] ×2 + 0.84sINFOros2-8process started with pid [7351] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_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 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763650 ms (missed cycles : 5).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOvideo_server2026/09/03 18:52:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.04sINFOvideo_server2026/09/03 18:52:45 INF configuration loaded from /tmp/moveit-webrtc-3qfhg6o6/mediamtx.yml ×2 + 1.05sINFOvideo_server2026/09/03 18:52:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/03 18:52:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.45sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093329 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093329 ms (missed cycles : 4).[0m ×2 + 1.76sINFOmove_group[2026-09-03 18:52:46.082] [moveit_pro_license] [info] ×2 + 1.76sINFOmove_group************************************************* ×4 + 1.76sINFOmove_group* MoveIt Pro License ×2 + 1.76sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.01sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.03sINFOros2_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 + 2.03sINFOros2_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 + 2.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.17sINFOmove_group ×4 + 2.17sINFOmove_group[92mYou can start planning now![0m ×2 + 2.19sINFOwaypoint_manager_node[2026-09-03 18:52:46.510] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.64sINFOobjective_server_node[2026-09-03 18:52:47.963] [moveit_pro_license] [info] ×2 + 3.64sINFOobjective_server_node************************************************* ×4 + 3.64sINFOobjective_server_node* MoveIt Pro License ×2 + 3.64sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.88sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.91sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.91sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.91sWARNros2_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 + 3.91sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.91sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.91sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.91sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.91sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.91sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.91sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.91sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.91sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.91sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.91sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.91sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.92sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.92sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.92sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.92sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.92sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.92sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.96sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.96sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.96sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.96sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 3.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 3.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.98sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.98sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.98sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.98sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.98sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.98sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.98sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586875 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586875 ms (missed cycles : 3).[0m ×2 + 3.99sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.99sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.08sINFOcomponent_container_mt[2026-09-03 18:52:48.399] [moveit_pro_license] [info] ×2 + 4.08sINFOcomponent_container_mt************************************************* ×4 + 4.08sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 4.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 4.30sINFOros2-3process has finished cleanly [pid 7335] ×2 + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.32sINFOforce_torque_sensor_broadcasterconfigure successful + 4.32sINFOros2_control_nodeconfigure successful[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.45sINFOros2_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 + 4.45sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.45sWARNros2_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 + 4.71sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.71sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.73sINFOros2-2process has finished cleanly [pid 7334] ×2 + 4.82sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 4.82sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 4.86sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.86sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.86sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.86sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.86sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.89sINFOros2_control_node[2026-09-03 18:52:49.207] [info] Controller state will be published at 10 Hz. ×2 + 4.89sINFOros2_control_node[2026-09-03 18:52:49.208] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680817 ms (missed cycles : 5). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680817 ms (missed cycles : 5).[0m ×2 + 5.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 5.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 5.22sINFOros2-7process has finished cleanly [pid 7350] ×2 + 5.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.23sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.28sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 5.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 5.54sINFOros2-4process has finished cleanly [pid 7347] ×2 + 5.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.61sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.61sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.61sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.90sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.90sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.90sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.93sINFOros2-5process has finished cleanly [pid 7348] ×2 + 6.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 6.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 6.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.04sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.04sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.07sINFOros2_control_node[2026-09-03 18:52:50.387] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.07sINFOros2_control_node[2026-09-03 18:52:50.387] [info] Controller state will be published at 50 Hz. ×2 + 6.07sINFOros2_control_node[2026-09-03 18:52:50.392] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.16sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 6.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.38sINFOros2-6process has finished cleanly [pid 7349] ×2 + 6.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 6.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 6.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.50sINFOros2_control_node[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 6.50sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 6.83sINFOros2-8process has finished cleanly [pid 7351] ×2 + 6.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.86sINFOobjective_server_nodecaller: ×10 + 6.86sINFOobjective_server_nodetype: 0 ×10 + 6.86sINFOobjective_server_nodename: "" ×10 + 6.86sINFOobjective_server_nodeinstance_id: "" ×10 + 6.86sINFOobjective_server_node ×10 + 6.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 7.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 8.18sWARNros2_control_nodeCamera render tick took 1.90 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 + 8.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 9.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 9.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 10.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.44sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 10.65sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 347 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.73sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 3.20sWARNros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.65sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.48sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 7.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.17sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 408 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 + 0.02sINFOros2-6process has finished cleanly [pid 7349] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [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[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2-8process has finished cleanly [pid 7351] ×2 + 0.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.50sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.50sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.50sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.50sINFOobjective_server_nodecaller: ×14 + 0.50sINFOobjective_server_nodetype: 0 ×14 + 0.50sINFOobjective_server_nodename: "" ×14 + 0.50sINFOobjective_server_nodeinstance_id: "" ×14 + 0.50sINFOobjective_server_node ×14 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 1.82sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 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 + 5.72sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.74sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 5.74sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 7.58sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 161 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/2026-09-03-18-52-43-947377-394539589c5c-7285 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.59sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.60sINFOcontroller_managerupdate rate is 600 Hz + 0.60sINFOcontroller_managerOverruns handling is : enabled + 0.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.60sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763650 ms (missed cycles : 5). + 0.84sINFOros2_control_node-1process started with pid [7333] ×2 + 0.84sINFOmove_group-9process started with pid [7374] ×2 + 0.84sINFOparameter_manager_node-10process started with pid [7375] ×2 + 0.84sINFOwaypoint_manager_node-11process started with pid [7376] ×2 + 0.84sINFOmove_joint_resampler_node-12process started with pid [7377] ×2 + 0.84sINFOmove_end_effector_resampler_node-13process started with pid [7378] ×2 + 0.84sINFOobjective_server_node_main-14process started with pid [7379] ×2 + 0.84sINFOcomponent_container_mt-15process started with pid [7380] ×2 + 0.84sINFOcomponent_container_mt-16process started with pid [7381] ×2 + 0.84sINFOexecute_objective_bridge-17process started with pid [7382] ×2 + 0.84sINFOui_teleop_bridge-18process started with pid [7383] ×2 + 0.84sINFOweb_bridge-19process started with pid [7388] ×2 + 0.84sINFOtf2_web_republisher_node-20process started with pid [7460] ×2 + 0.84sINFOvideo_server-21process started with pid [7461] ×2 + 0.84sINFOweb_bridge_auth_proxy-22process started with pid [7462] ×2 + 0.84sINFOweb_video_auth_proxy-23process started with pid [7463] ×2 + 0.84sINFOros2-2process started with pid [7334] ×2 + 0.84sINFOros2-3process started with pid [7335] ×2 + 0.84sINFOros2-4process started with pid [7347] ×2 + 0.84sINFOros2-5process started with pid [7348] ×2 + 0.84sINFOros2-6process started with pid [7349] ×2 + 0.84sINFOros2-7process started with pid [7350] ×2 + 0.84sINFOros2-8process started with pid [7351] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_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 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763650 ms (missed cycles : 5).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.91sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOvideo_server2026/09/03 18:52:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.04sINFOvideo_server2026/09/03 18:52:45 INF configuration loaded from /tmp/moveit-webrtc-3qfhg6o6/mediamtx.yml ×2 + 1.05sINFOvideo_server2026/09/03 18:52:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/03 18:52:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.45sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093329 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093329 ms (missed cycles : 4).[0m ×2 + 1.76sINFOmove_group[2026-09-03 18:52:46.082] [moveit_pro_license] [info] ×2 + 1.76sINFOmove_group************************************************* ×4 + 1.76sINFOmove_group* MoveIt Pro License ×2 + 1.76sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.01sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.03sINFOros2_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 + 2.03sINFOros2_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 + 2.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.17sINFOmove_group ×4 + 2.17sINFOmove_group[92mYou can start planning now![0m ×2 + 2.19sINFOwaypoint_manager_node[2026-09-03 18:52:46.510] [moveit_pro_license] [info] ×2 + 2.19sINFOwaypoint_manager_node************************************************* ×4 + 2.19sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.19sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.26sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.64sINFOobjective_server_node[2026-09-03 18:52:47.963] [moveit_pro_license] [info] ×2 + 3.64sINFOobjective_server_node************************************************* ×4 + 3.64sINFOobjective_server_node* MoveIt Pro License ×2 + 3.64sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 467 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7348] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-03 18:52:50.392] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7349] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2-8process has finished cleanly [pid 7351] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_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 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 467 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7348] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-03 18:52:50.392] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7349] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2-8process has finished cleanly [pid 7351] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_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 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 467 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 7348] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.363] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.16sINFOros2_control_node[2026-09-03 18:52:50.387] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-09-03 18:52:50.392] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.48sINFOros2-6process has finished cleanly [pid 7349] ×2 + 0.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [0m ×2 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2-8process has finished cleanly [pid 7351] ×2 + 0.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.96sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.96sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.96sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.96sINFOobjective_server_nodecaller: ×14 + 0.96sINFOobjective_server_nodetype: 0 ×14 + 0.96sINFOobjective_server_nodename: "" ×14 + 0.96sINFOobjective_server_nodeinstance_id: "" ×14 + 0.96sINFOobjective_server_node ×14 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 1.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 6.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_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 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 406 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 + 0.02sINFOros2-6process has finished cleanly [pid 7349] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pjld0tl0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5kp_uhm8 --params-file /tmp/launch_params_i2rbx5xw [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[2026-09-03 18:52:50.816] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-03 18:52:50.817] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791333 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2-8process has finished cleanly [pid 7351] ×2 + 0.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.50sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.50sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.50sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.50sINFOobjective_server_nodecaller: ×14 + 0.50sINFOobjective_server_nodetype: 0 ×14 + 0.50sINFOobjective_server_nodename: "" ×14 + 0.50sINFOobjective_server_nodeinstance_id: "" ×14 + 0.50sINFOobjective_server_node ×14 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788461571.22720981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788461571.23743153 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 1.82sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 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 + 5.72sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.74sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 5.74sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788461571.82267761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.73sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 3.20sWARNros2_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 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.65sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.48sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788461572.88289881 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310473 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788461573.49846768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788461573.55864239 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788461574.21054125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788461574.22064781 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198319 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788461574.81076455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788461574.96132970 seconds ×3 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999139 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788461575.64211702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788461575.68224049 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788461576.28261662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_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 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.7876e-05 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-03 18:52:56.421] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869251 ms (missed cycles : 6).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.138867 ms (missed cycles : 6).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.067058 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-09-03 18:52:58.947] [info] Accepted new action goal ×2 | ||||